Release/v1.2 (#7)

Release note:
https://github.com/flexivrobotics/flexiv_tdk/releases/tag/v1.2

.github/workflows/cmake.yml

@@ -27,32 +27,24 @@ jobs:
         run: |
           cd ${{github.workspace}}
           cd thirdparty
-          bash build_and_install_dependencies.sh ~/teleop_install
+          bash build_and_install_dependencies.sh ~/tdk_install
 
       - name: Build and install library
         # Configure CMake, then build and install the flexiv_tdk INTERFACE library to TDK installation directory.
         run: |
           cd ${{github.workspace}}
           mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_install
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
           make install
 
       - name: Build examples
         # Find and link to the flexiv_tdk INTERFACE library, then build all examples.
         run: |
           cd ${{github.workspace}}/example
           mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_install
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
           make -j$(nproc)
 
-      # - name: Build tests
-      #   # Find and link to the flexiv_tdk INTERFACE library, then build all tests.
-      #   run: |
-      #     cd ${{github.workspace}}/test
-      #     mkdir -p build && cd build
-      #     cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_install
-      #     make -j$(nproc)
-
   build-ubuntu-20:
     # Use GitHub-hosted Ubuntu 20.04 runner
     runs-on: ubuntu-20.04

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.16.3)
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_tdk VERSION 1.1.0)
+project(flexiv_tdk VERSION 1.2.0)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)
@@ -14,39 +14,36 @@ set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Release" "Debug" "RelWithD
 # Set static library
 message("OS: ${CMAKE_SYSTEM_NAME}")
 message("Processor: ${CMAKE_SYSTEM_PROCESSOR}")
-
 if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
   if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
-    set(TELEOP_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libflexiv_tdk.x86_64-linux-gnu.a")
+    set(TDK_STATIC_LIB "libflexiv_tdk.x86_64-linux-gnu.a")
+  elseif(${CMAKE_SYSTEM_PROCESSOR} MATCHES "aarch64")
+    set(TDK_STATIC_LIB "libflexiv_tdk.aarch64-linux-gnu.a")
   else()
     message(FATAL_ERROR "Linux with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
   endif()
-else()
-  message(FATAL_ERROR "OS:${CMAKE_SYSTEM_NAME} with processor:${CMAKE_SYSTEM_PROCESSOR} is currently not supported.")
 endif()
 
-# Set install prefix to non default
-if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
-    message(FATAL_ERROR "CMAKE_INSTALL_PREFIX must be set to a non-default value.
-    Please set it explicitly using -DCMAKE_INSTALL_PREFIX=<path-to-your-install-directory> or using cmake-gui")
-endif()
-# Add to CMAKE_PREFIX_PATH so the sub-dependencies can also be found
-list(APPEND CMAKE_PREFIX_PATH ${CMAKE_INSTALL_PREFIX})
-
 # ===================================================================
 #      PROJECT DEPENDENCIES
 # ===================================================================
+# Threads
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+find_package(Threads REQUIRED)
+if(Threads_FOUND)
+  message(STATUS "Found Threads: HAVE_PTHREAD = ${THREADS_HAVE_PTHREAD_ARG}")
+endif()
 
-# OpenSSL
-find_package(OpenSSL REQUIRED)
-if(OpenSSL_FOUND)
-  message(STATUS "Found OpenSSL, version: ${OPENSSL_VERSION}, libraries: ${OPENSSL_LIBRARIES}")
+# spdlog
+find_package(spdlog REQUIRED)
+if(spdlog_FOUND)
+  message(STATUS "Found spdlog: ${spdlog_DIR}")
 endif()
 
-# flexiv_rdk
-find_package(flexiv_rdk REQUIRED)
-if(flexiv_rdk_FOUND)
-  message(STATUS "Found flexiv_rdk: ${flexiv_rdk_DIR}")
+# Fast-DDS (Fast-RTPS)
+find_package(fastrtps 2.6.7 REQUIRED)
+if(fastrtps_FOUND)
+  message(STATUS "Found fastrtps: ${fastrtps_DIR}")
 endif()
 
 # ===================================================================
@@ -65,9 +62,10 @@ target_include_directories(${PROJECT_NAME} INTERFACE
 )
 
 target_link_libraries(${PROJECT_NAME} INTERFACE
-  ${TELEOP_STATIC_LIBRARY}
-  ${OPENSSL_LIBRARIES}
-  flexiv::flexiv_rdk
+  ${CMAKE_CURRENT_SOURCE_DIR}/lib/${TDK_STATIC_LIB}
+  Threads::Threads
+  spdlog::spdlog
+  fastrtps
 )
 
 # Use moderate compiler warning option 

README.md

@@ -2,74 +2,74 @@
 
 ![CMake Badge](https://github.com/flexivrobotics/flexiv_tdk/actions/workflows/cmake.yml/badge.svg) ![Version](https://img.shields.io/badge/version-1.1-blue.svg) [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://www.apache.org/licenses/LICENSE-2.0.html)
 
-Flexiv TDK (Teleoperation Development Kit) is an SDK provides C++ APIs for developing complex and customized applications involving robot-robot or device-robot teleoperation. The supported devices are listed below.
-
-## Supported devices
-
-| **Supported teleop type** | **Supported local devices** | **Supported remote devices** |
-| ------------------------- | --------------------------- | ---------------------------- |
-| robot-robot               | Rizon4s                     | Rizon4s                      |
+Flexiv TDK (Teleoperation Development Kit) is an SDK for developing customized robot-robot or device-robot teleoperation applications with Flexiv's adaptive robots. It features synchronized motions that are force-guided using high-fidelity perceptual feedback and supports both LAN (Local Area Network) and WAN (Wide Area Network, i.e. Internet) connections.
 
 ## Compatibility
 
 | **Supported OS**           | **Supported processor** | **Supported language** | **Required compiler kit** |
 | -------------------------- | ----------------------- | ---------------------- | ------------------------- |
 | Linux (Ubuntu 20.04/22.04) | x86_64                  | C++                    | build-essential           |
 
+## Quick Start
+
+The TDK library is packed into a unified modern CMake project named ``flexiv_tdk``, which can be configured and installed using CMake on all supported OS.
+
 ### Install on Linux
 
-1. In a new Terminal, install C++ compiler, libssl-dev, net-tools, Git, and CMake (with GUI) using the package manager:
+1. In a new Terminal, install compiler kit, CMake (with GUI), Python interpreter, and Python package manager:
 
-       sudo apt install build-essential libssl-dev net-tools git cmake cmake-qt-gui -y
+       sudo apt install build-essential cmake cmake-qt-gui -y
 
 2. Choose a directory for installing ``flexiv_tdk`` library and all its dependencies. For example, a new folder named ``tdk_install`` under the home directory.
 
-3. Please ensure that your network connection is unobstructed. Then, in a new Terminal, run the provided script to compile and install all dependencies to the installation directory chosen in step 2:
+3. In a new Terminal, run the provided script to compile and install all dependencies to the installation directory chosen in step 2:
 
        cd flexiv_tdk/thirdparty
        bash build_and_install_dependencies.sh ~/tdk_install
 
-4. In a new Terminal, use CMake to configure `flexiv_tdk`:
+   NOTE: Internet connection is required for this step.
+
+4. In a new Terminal, configure ``flexiv_tdk`` library as a CMake project:
 
        cd flexiv_tdk
        mkdir build && cd build
        cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
 
-   NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` is a CMake parameter specifying the path of the chosen installation directory. Alternatively, this configuration step can also be done through CMake GUI.
+   NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` is a CMake parameter specifying the path of the chosen installation directory. Alternatively, this configuration step can be done using CMake GUI.
 
-5. Install `flexiv_tdk` library:
+5. Install ``flexiv_tdk`` library:
 
        cd flexiv_tdk/build
        cmake --build . --target install --config Release
 
-   NOTE: the installation of `flexiv_tdk` library is complete now. The following steps show how to link to the installed library from a user project.
-
-### Link to the installed library to a user project
+   The library will be installed to ``CMAKE_INSTALL_PREFIX`` path, which may or may not be globally discoverable by CMake.
 
-1. To find and link to the installed `flexiv_tdk` library to a user project, using the provided example project for instance:
+### Link to installed library from a user program
 
-       cd flexiv_tdk/example
-       mkdir build && cd build
-       cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
-       cmake --build . --config Release -j 4
+After the TDK library is installed, it can be found as a CMake target and linked to from other CMake projects. Using the provided examples project for instance::
 
-   NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` tells user project's CMake where to find the installed `flexiv_tdk` library.
+    cd flexiv_tdk/example
+    mkdir build && cd build
+    cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
+    cmake --build . --config Release -j 4
 
-### Run tdk example
+NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` tells the user project's CMake where to find the installed TDK library. The instruction above applies to all supported OS.
 
-1. Apply for license to run tdk. See [apply_for_license.md](./license_generator/apply_for_license.md)
+### Run example programs
 
-2. Set all the robots to `Auto/Remote Mode` via Flexiv Elements, then to run the compiled example program:
+To run a compiled example program:
 
-       ./<program_name> [local_robot_serial_number] [remote_robot_serial_number] [path_to_licenseCfg.json]
+    cd flexiv_tdk/example/build
+    sudo ./<program_name> [arguments]
 
+The exact arguments required by an example program are documented in the program's code. Also, ``sudo`` is required to grant root permissions.
 
 ## API Documentation
 
-API doc can be generated using doxygen
+The API documentation can be generated using doxygen:
 
       sudo apt install doxygen-latex graphviz
       cd flexiv_tdk
       doxygen doc/Doxyfile.in
 
-The generated API doc is under ```flexiv_tdk/doc/html ```. You can open any of the html file with your web browser to view it.
+The generated API documentation is under ``flexiv_tdk/doc/html/`` directory. Open any html file with your browser to view it.

cmake/flexiv_tdk-config.cmake.in

@@ -1,7 +1,10 @@
 include(CMakeFindDependencyMacro)
 
 # Find dependency
-find_dependency(flexiv_rdk REQUIRED)
-find_package(OpenSSL REQUIRED)
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+find_dependency(Threads REQUIRED)
+find_dependency(spdlog REQUIRED)
+find_dependency(fastrtps 2.6.7 REQUIRED)
+
 # Add targets file
 include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")

doc/Doxyfile.in

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Flexiv TDK APIs"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.1
+PROJECT_NUMBER         = 1.2
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

example/CMakeLists.txt

@@ -1,44 +1,34 @@
 cmake_minimum_required(VERSION 3.16.3)
-
 project(flexiv_tdk-examples)
 
-message("OS: ${CMAKE_SYSTEM_NAME}")
-message("Processor: ${CMAKE_SYSTEM_PROCESSOR}")
-
 # Show verbose build info
 SET(CMAKE_VERBOSE_MAKEFILE ON)
 
+message("OS: ${CMAKE_SYSTEM_NAME}")
+message("Processor: ${CMAKE_SYSTEM_PROCESSOR}")
+
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)
-   set(CMAKE_BUILD_TYPE Release CACHE STRING "CMake build type" FORCE) 
-endif()
-
-# Set default install prefix
-if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
-    message(FATAL_ERROR "CMAKE_INSTALL_PREFIX must be set to a non-default value.
-   Please set it explicitly using -DCMAKE_INSTALL_PREFIX=<path-to-your-install-directory> or using cmake-gui")
+  set(CMAKE_BUILD_TYPE Release CACHE STRING "CMake build type" FORCE)
 endif()
 
-# Add to CMAKE_PREFIX_PATH so the sub-dependencies can also be found
-list(APPEND CMAKE_PREFIX_PATH ${CMAKE_INSTALL_PREFIX})
-
+# Example list
 set(EXAMPLE_LIST
-   basics1_cartesian_teleop
+  cartesian_teleop_under_lan
+  joint_teleop_over_wan
+  joint_teleop_under_lan
 )
 
 # Find flexiv_tdk INTERFACE library
-find_package(flexiv_tdk 1.1.0 REQUIRED)
-if(flexiv_tdk_FOUND)
-   message(STATUS "Found flexiv_tdk:${flexiv_tdk_DIR}") 
-endif()
+find_package(flexiv_tdk REQUIRED)
 
-# Build all examples
+# Build all selected examples
 foreach(example ${EXAMPLE_LIST})
-   add_executable(${example} ${example}.cpp) 
-   target_link_libraries(${example} flexiv::flexiv_tdk)
+  add_executable(${example} ${example}.cpp)
+  target_link_libraries(${example} flexiv::flexiv_tdk)
 
-     # C++17 required
-   set_target_properties(${example} PROPERTIES
-   CXX_STANDARD 17
-   CXX_STANDARD_REQUIRED ON)
+  # C++17 required
+  set_target_properties(${example} PROPERTIES
+    CXX_STANDARD 17
+    CXX_STANDARD_REQUIRED ON)
 endforeach()