Release/v1.8

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.16)
-project(FlexivRdkCSharp LANGUAGES C CXX)
+project(FlexivRdkCSharp VERSION 1.8.0)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)

build_and_install_flexiv_rdk_dll.sh

@@ -3,11 +3,11 @@
 CURRSCRIPTPATH="$(dirname $(readlink -f $0))"
 bash third_party/build_and_install_flexiv_rdk.sh
 
-echo ">>> Build and install flexiv rdk dll v1.7.0"
+echo ">>> Build and install flexiv rdk dll v1.8.0"
 cd $CURRSCRIPTPATH
 rm -rf build/
 cmake -S . -B build
 cmake --build build --config Release --target install
 
-echo ">>> Installed successfully: flexiv rdk dll v1.7.0"
+echo ">>> Installed successfully: flexiv rdk dll v1.8.0"
 echo ">>> Installed path: $CURRSCRIPTPATH/install"

cpp_wrapper/include/wrapper_api.hpp

@@ -47,9 +47,12 @@ struct WRobotInfo {
 	double q_max[kSerialJointDoF];
 	double dq_max[kSerialJointDoF];
 	double tau_max[kSerialJointDoF];
+	int has_FT_sensor;
 };
 
 struct WRobotState {
+	int64_t sec;
+	int32_t nsec;
 	double q[kSerialJointDoF];
 	double theta[kSerialJointDoF];
 	double dq[kSerialJointDoF];
@@ -58,6 +61,8 @@ struct WRobotState {
 	double tau_des[kSerialJointDoF];
 	double tau_dot[kSerialJointDoF];
 	double tau_ext[kSerialJointDoF];
+	double tau_interact[kSerialJointDoF];
+	double temperature[kSerialJointDoF];
 	double tcp_pose[kPoseSize];
 	double tcp_vel[kCartDoF];
 	double flange_pose[kPoseSize];

cpp_wrapper/src/wrapper_api.cpp

@@ -17,13 +17,13 @@ EXPORT_API void SpdlogError(const char* msgs) {
 }
 
 EXPORT_API Robot* CreateFlexivRobot(const char* robot_sn,
-	const char** interfaces, int interface_count, int verbose, FlexivError* error) {
+	const char** interfaces, int interface_count, int verbose, int lite, FlexivError* error) {
 	std::vector<std::string> white_list;
 	for (int i = 0; i < interface_count; ++i) {
 		white_list.push_back(interfaces[i]);
 	}
 	try {
-		flexiv::rdk::Robot* robot = new flexiv::rdk::Robot(robot_sn, white_list, verbose);
+		flexiv::rdk::Robot* robot = new flexiv::rdk::Robot(robot_sn, white_list, verbose, lite);
 		error->error_code = 0;
 		return robot;
 	}
@@ -39,6 +39,10 @@ EXPORT_API void DeleteFlexivRobot(flexiv::rdk::Robot* robot) {
 }
 
 //========================================= ACCESSORS ==========================================
+EXPORT_API int IsLite(Robot* robot) {
+	return robot->lite();
+}
+
 EXPORT_API int IsConnected(Robot* robot) {
 	return robot->connected();
 }
@@ -60,6 +64,7 @@ EXPORT_API void GetInfo(Robot* robot, WRobotInfo* info) {
 		info->dq_max[i] = r_info.dq_max[i];
 		info->tau_max[i] = r_info.tau_max[i];
 	}
+	info->has_FT_sensor = r_info.has_FT_sensor;
 }
 
 EXPORT_API int GetMode(Robot* robot) {
@@ -83,6 +88,8 @@ EXPORT_API int GetMode(Robot* robot) {
 
 EXPORT_API void GetStates(Robot* robot, WRobotState* robot_state) {
 	const RobotStates& states = robot->states();
+	robot_state->sec = states.timestamp.first;
+	robot_state->nsec = states.timestamp.second;
 	for (int i = 0; i < kSerialJointDoF; ++i) {
 		robot_state->q[i] = states.q[i];
 		robot_state->theta[i] = states.theta[i];
@@ -92,6 +99,8 @@ EXPORT_API void GetStates(Robot* robot, WRobotState* robot_state) {
 		robot_state->tau_des[i] = states.tau_des[i];
 		robot_state->tau_dot[i] = states.tau_dot[i];
 		robot_state->tau_ext[i] = states.tau_ext[i];
+		robot_state->tau_interact[i] = states.tau_interact[i];
+		robot_state->temperature[i] = states.temperature[i];
 	}
 	for (int i = 0; i < kPoseSize; ++i) {
 		robot_state->tcp_pose[i] = states.tcp_pose[i];
@@ -281,6 +290,28 @@ EXPORT_API void LockExternalAxes(Robot* robot, int toggle, FlexivError* error) {
 	}
 }
 
+EXPORT_API void SyncWithPositioner(Robot* robot, int toggle, FlexivError* error) {
+	try {
+		robot->SyncWithPositioner(toggle);
+		error->error_code = 0;
+	} 
+	catch (const std::exception& e) {
+		error->error_code = 1;
+		CopyExceptionMsg(e, error);
+	}
+}
+
+EXPORT_API void SetTimeLinessFailureLimit(Robot* robot, int limit, FlexivError* error) {
+	try {
+		robot->SetTimelinessFailureLimit(limit);
+		error->error_code = 0;
+	} 
+	catch (const std::exception& e) {
+		error->error_code = 1;
+		CopyExceptionMsg(e, error);
+	}
+}
+
 //======================================= PLAN EXECUTION =======================================
 EXPORT_API void ExecutePlanByIdx(Robot* robot, int idx, int continueExec,
 	int blockUntilStarted, FlexivError* error) {
@@ -317,6 +348,17 @@ EXPORT_API void PausePlan(Robot* robot, int pause, FlexivError* error) {
 	}
 }
 
+EXPORT_API void StopPlan(Robot* robot, FlexivError* error) {
+	try {
+		robot->StopPlan();
+		error->error_code = 0;
+	}
+	catch (const std::exception& e) {
+		error->error_code = 1;
+		CopyExceptionMsg(e, error);
+	}
+}
+
 EXPORT_API char* GetPlanList(Robot* robot, FlexivError* error) {
 	try {
 		const auto& plan_list = robot->plan_list();
@@ -435,15 +477,14 @@ EXPORT_API void StreamJointPosition(Robot* robot, const double* pos, int posLen,
 }
 
 EXPORT_API void SendJointPosition(Robot* robot, const double* pos, int posLen, const double* vel,
-	int velLen, const double* acc, int accLen, const double* maxVel, int maxVelLen,
+	int velLen, const double* maxVel, int maxVelLen,
 	const double* maxAcc, int maxAccLen, FlexivError* error) {
 	try {
 		std::vector<double> positions(pos, pos + posLen);
 		std::vector<double> velocities(vel, vel + velLen);
-		std::vector<double> accelerations(acc, acc + accLen);
 		std::vector<double> max_vel(maxVel, maxVel + maxVelLen);
 		std::vector<double> max_acc(maxAcc, maxAcc + maxAccLen);
-		robot->SendJointPosition(positions, velocities, accelerations,
+		robot->SendJointPosition(positions, velocities,
 			max_vel, max_acc);
 		error->error_code = 0;
 	}
@@ -467,6 +508,30 @@ EXPORT_API void SetJointImpedance(Robot* robot, const double* Kq, int KqLen,
 	}
 }
 
+EXPORT_API void SetMaxContactTorque(Robot* robot, const double* maxTorques, int maxTorquesLen, FlexivError* error) {
+	try {
+		std::vector<double> maxTorquesArr(maxTorques, maxTorques + maxTorquesLen);
+		robot->SetMaxContactTorque(maxTorquesArr);
+		error->error_code = 0;
+	}
+	catch (const std::exception& e) {
+		error->error_code = 1;
+		CopyExceptionMsg(e, error);
+	}
+}
+
+EXPORT_API void SetJointInertiaScale(Robot* robot, const double* inertiaScales, int inertiaScalesLen, FlexivError* error) {
+	try {
+		std::vector<double> inertiaScalesArr(inertiaScales, inertiaScales + inertiaScalesLen);
+		robot->SetJointInertiaScale(inertiaScalesArr);
+		error->error_code = 0;
+	}
+	catch (const std::exception& e) {
+		error->error_code = 1;
+		CopyExceptionMsg(e, error);
+	}
+}
+
 EXPORT_API void StreamCartesianMotionForce(Robot* robot, const double* pose, int poseLen,
 	const double* wrench, int wrenchLen, const double* velocity, int velocityLen,
 	const double* acceleration, int accelerationLen, FlexivError* error) {
@@ -501,7 +566,7 @@ EXPORT_API void StreamCartesianMotionForce(Robot* robot, const double* pose, int
 }
 
 EXPORT_API void SendCartesianMotionForce(Robot* robot, const double* pose, int poseLen,
-	const double* wrench, int wrenchLen, double maxLinearVel, double maxAngularVel,
+	const double* wrench, int wrenchLen, const double* vel, int velLen, double maxLinearVel, double maxAngularVel,
 	double maxLinearAcc, double maxAngularAcc, FlexivError* error) {
 	try {
 		if (poseLen != kPoseSize)
@@ -510,11 +575,16 @@ EXPORT_API void SendCartesianMotionForce(Robot* robot, const double* pose, int p
 		if (wrenchLen != kCartDoF)
 			throw std::invalid_argument("SendCartesianMotionForce wrench length must be " +
 				std::to_string(kCartDoF));
+		if (velLen != kCartDoF)
+			throw std::invalid_argument("SendCartesianMotionForce velocity length must be " +
+				std::to_string(kCartDoF));
 		std::array<double, kPoseSize> poseArr;
 		std::copy(pose, pose + kPoseSize, poseArr.begin());
 		std::array<double, kCartDoF> wrenchArr{};
 		std::copy(wrench, wrench + kCartDoF, wrenchArr.begin());
-		robot->SendCartesianMotionForce(poseArr, wrenchArr, maxLinearVel, maxAngularVel,
+		std::array<double, kCartDoF> velocityArr{};
+		std::copy(vel, vel + velLen, velocityArr.begin());
+		robot->SendCartesianMotionForce(poseArr, wrenchArr, velocityArr, maxLinearVel, maxAngularVel,
 			maxLinearAcc, maxAngularAcc);
 		error->error_code = 0;
 	}
@@ -1055,6 +1125,20 @@ EXPORT_API char* GetTrajFilesList(FileIO* fileIO, FlexivError* error) {
 	return nullptr;
 }
 
+EXPORT_API char* GetProjectsList(FileIO* fileIO, FlexivError* error) {
+	try {
+		json j = fileIO->projects_list();
+		std::string str = j.dump();
+		error->error_code = 0;
+		return CopyInputString(str.c_str());
+	} 
+	catch (const std::exception& e) {
+		error->error_code = 1;
+		CopyExceptionMsg(e, error);
+	}
+	return nullptr;
+}
+
 EXPORT_API void UploadTrajFile(FileIO* fileIO, const char* fileDir, const char* fileName, FlexivError* error) {
 	try {
 		fileIO->UploadTrajFile(fileDir, fileName);
@@ -1090,6 +1174,28 @@ EXPORT_API void DownloadTrajFile2(FileIO* fileIO, const char* fileName, const ch
 	}
 }
 
+EXPORT_API void UploadProject(FileIO* fileIO, const char* projectDir, FlexivError* error) {
+	try {
+		fileIO->UploadProject(projectDir);
+		error->error_code = 0;
+	}
+	catch (const std::exception& e) {
+		error->error_code = 1;
+		CopyExceptionMsg(e, error);
+	}
+}
+
+EXPORT_API void DownloadProject(FileIO* fileIO, const char* projectName, const char* saveDir, FlexivError* error) {
+	try {
+		fileIO->DownloadProject(projectName, saveDir);
+		error->error_code = 0;
+	}
+	catch (const std::exception& e) {
+		error->error_code = 1;
+		CopyExceptionMsg(e, error);
+	}
+}
+
 //========================================= DEVICE ===========================================
 EXPORT_API Device* CreateDevice(Robot* robot, FlexivError* error) {
 	try {
@@ -1334,6 +1440,20 @@ EXPORT_API void DeleteModel(Model* model) {
 	delete model;
 }
 
+EXPORT_API char* GetLinkNames(Model* model, FlexivError* error) {
+	try {
+		json j = model->link_names();
+		std::string str = j.dump();
+		error->error_code = 0;
+		return CopyInputString(str.c_str());
+	}
+	catch (const std::exception& e) {
+		error->error_code = 1;
+		CopyExceptionMsg(e, error);
+	}
+	return nullptr;
+}
+
 EXPORT_API void Reload(Model* model, FlexivError* error) {
 	try {
 		model->Reload();
@@ -1372,6 +1492,20 @@ EXPORT_API void GetJacobian(Model* model, const char* linkName, double* buffer,
 	}
 }
 
+EXPORT_API void GetTransformation(Model* model, const char* linkName, double* buffer, int rows, int cols, FlexivError* error) {
+	try {
+		if (!model || !buffer || !linkName) return;
+		Eigen::Isometry3d t = model->T(std::string(linkName));
+		if (t.rows() != rows || t.cols() != cols) return;
+		std::memcpy(buffer, t.data(), sizeof(double) * rows * rows);
+		error->error_code = 0;
+	}
+	catch (const std::exception& e) {
+		error->error_code = 1;
+		CopyExceptionMsg(e, error);
+	}
+}
+
 EXPORT_API void GetJacobianDot(Model* model, const char* linkName, double* buffer, int rows, int cols, FlexivError* error) {
 	try {
 		if (!model || !buffer || !linkName) return;

csharp/Examples/Basics1DisplayRobotStates.cs

@@ -43,7 +43,7 @@ public void Run(string[] args)
             try
             {
                 // Instantiate robot interface
-                var robot = new Robot(robotSN);
+                using var robot = new Robot(robotSN);
                 // Clear fault on the connected robot if any
                 if (robot.fault())
                 {

csharp/Examples/Basics2ClearFault.cs

@@ -32,7 +32,7 @@ public void Run(string[] args)
             try
             {
                 // Instantiate robot interface
-                var robot = new Robot(robotSN);
+                using var robot = new Robot(robotSN);
                 // Clear fault on the connected robot if any
                 if (robot.fault())
                 {

csharp/Examples/Basics3PrimitiveExecution.cs

@@ -35,7 +35,7 @@ public void Run(string[] args)
             try
             {
                 // Instantiate robot interface
-                var robot = new Robot(robotSN);
+                using var robot = new Robot(robotSN);
                 // Clear fault on the connected robot if any
                 if (robot.fault())
                 {

csharp/Examples/Basics4PlanExecution.cs

@@ -36,7 +36,7 @@ public void Run(string[] args)
             try
             {
                 // Instantiate robot interface
-                var robot = new Robot(robotSN);
+                using var robot = new Robot(robotSN);
                 // Clear fault on the connected robot if any
                 if (robot.fault())
                 {

csharp/Examples/Basics5ZeroFTSensor.cs

@@ -36,7 +36,7 @@ public void Run(string[] args)
             try
             {
                 // Instantiate robot interface
-                var robot = new Robot(robotSN);
+                using var robot = new Robot(robotSN);
                 // Clear fault on the connected robot if any
                 if (robot.fault())
                 {

csharp/Examples/Basics6GripperControl.cs

@@ -50,7 +50,7 @@ public void Run(string[] args)
             try
             {
                 // Instantiate robot interface
-                var robot = new Robot(robotSN);
+                using var robot = new Robot(robotSN);
                 // Clear fault on the connected robot if any
                 if (robot.fault())
                 {

csharp/Examples/Basics7AutoRecovery.cs

@@ -35,7 +35,7 @@ public void Run(string[] args)
             try
             {
                 // Instantiate robot interface
-                var robot = new Robot(robotSN);
+                using var robot = new Robot(robotSN);
                 // Enable the robot, make sure the E-stop is released before enabling
                 Utility.SpdlogInfo("Enabling robot ...");
                 robot.Enable();

csharp/Examples/Basics8UpdateRobotTool.cs

@@ -34,7 +34,7 @@ public void Run(string[] args)
             try
             {
                 // Instantiate robot interface
-                var robot = new Robot(robotSN);
+                using var robot = new Robot(robotSN);
                 // Clear fault on the connected robot if any
                 if (robot.fault())
                 {
@@ -59,7 +59,7 @@ public void Run(string[] args)
                 // Update Robot Tool, make sure the robot is in IDLE mode
                 robot.SwitchMode(RobotMode.IDLE);
                 // Instantiate tool interface
-                var tool = new Tool(robot);
+                using var tool = new Tool(robot);
                 // Get and print a list of already configured tools currently in the robot's tools pool
                 Utility.SpdlogInfo("All configured tools:");
                 var toolList = tool.list();