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版本： 3.0.3

Haply 逆向服务

Haply 反向服务是一个基础组件，它将Haply 的触觉设备与交互式应用程序集成在一起，作为后台 Windows 服务运行，以实现实时交互。 其功能包括

  • 设备发现和管理：自动识别和配置连接的Haply 设备。
  • 所有权管理：管理多个应用程序的设备访问权限，确保运行顺畅。
  • 实时状态流：高频率更新设备状态，实现精确控制。
  • 指令处理：高保真地执行力或位置指令，增强触觉反馈。
  • 后台运行：在后台运行，无需用户干预即可保持设备就绪状态。

运行、停止、重新启动​

在 Windows 上：

  • 打开 服务 桌面应用程序：按 Windows+R 打开 运行 框，输入 services.msc然后按 Enter 或选择 OK.

在 Ubuntu 上

  • 开始
    • systemctl start haply-inverse-service.service
  • 停止
    • systemctl stop haply-inverse-service.service
  • 启用
    • systemctl enable haply-inverse-service.service
  • 禁用
    • systemctl disable haply-inverse-service.service

重要文件​

在 Windows 上：

  • 配置文件位于%PROGRAMDATA%\Haply\Inverse\*-config.json
  • 日志文件位于%PROGRAMDATA%\Haply\Inverse\*-log.log

在 Ubuntu 上

  • 配置文件位于/etc/haply-inverse-service/*-config.json
  • 日志文件位于/var/log/haply-inverse-service/*-log.log

接口​

HTTP 和 Websocket 接口都使用 JSON 格式化的有效载荷。

信息

读取末端执行器的位置时，必须向设备发送力值（即使力值全为零）。

超文本传输协定​

默认情况下，HTTP 服务在 http://localhost:10000.注意：端口可在配置中更改。

仪表板​

仪表盘可在以下网址获取： http://localhost:10000

版本​

方法获取

URL： http://localhost:10000/3.0/version

回复示例：

{
    "build_time": "2024-08-07T16:01:53Z",
    "git_branch": "main",
    "git_describe": "3.0.0-2-gce34c39e",
    "git_hash": "ce34c39e",
    "git_tag": "3.0.0",
    "project_name": "haply-inverse-service",
    "project_version": "3.0.0.0"
}

设备​

方法获取

URL： http://localhost:10000/3.0/devices

回复示例：

{
    "inverse3": {
        "049D": {
            "config": {
                "device_info": {
                    "firmware_version": 1,
                    "hardware_version": 7,
                    "id": "049D",
                    "model": 4,
                    "uuid": "5A9F3AC02E085C078AD6A4A113DE049D"
                },
                "extended_device_id": "5A9F3AC02E085C078AD6A4A113DE049D",
                "extended_firmware_version": "77488E4644CB6057D0920B0B919C8B82",
                "gravity_compensation": {
                    "enabled": true,
                    "scaling_factor": 0.75
                },
                "handedness": "left",
                "torque_scaling": {
                    "enabled": true
                }
            },
            "device_id": "049D",
            "state": {
                "angular_position": {
                    "a0": 0.0,
                    "a1": 0.0,
                    "a2": 0.0
                },
                "angular_velocity": {
                    "a0": 0.0,
                    "a1": 0.0,
                    "a2": 0.0
                },
                "body_orientation": {
                    "w": 1.0,
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "calibrated": false,
                "cursor_position": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "cursor_velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "in_use": false,
                "mode": "idle",
                "power_supply": false,
                "ready": false,
                "started": false
            },
            "status": {
                "initialization_received": {
                    "body_orientation": true,
                    "device_handedness": true,
                    "device_info": true,
                    "extended_device_id": true,
                    "extended_firmware_version": true,
                    "gravity_compensation": true,
                    "torque_scaling": true
                },
                "port": "COM12"
            }
        }
    },
    "verse_grip": {
        "61582": {
            "button": false,
            "device_id": "61582",
            "error": 0,
            "hall": 0,
            "orientation": {
                "w": 0.17022705078125,
                "x": -0.24114990234375,
                "y": -0.95538330078125,
                "z": -0.001220703125
            }
        }
    },
    "wireless_verse_grip": {
        "0": {
            "battery_level": 0.6200001239776611,
            "buttons": {
                "a": false,
                "b": false,
                "c": false
            },
            "device_id": "0",
            "hall": 15,
            "orientation": {
                "w": -0.906463623046875,
                "x": -0.379058837890625,
                "y": -0.111785888671875,
                "z": -0.136688232421875
            }
        }
    }
}

力标尺​

方法邮寄

URL： http://localhost:10000/3.0/force_scale

身体示例：

{
    "force_scale": 0.5
}

回复示例：

{
    "ok": true
}

重力补偿​

方法邮寄

URL： http://localhost:10000/3.0/gravity_compensation

身体示例：

{
    "device_id": "049D",
    "enable": true,
    "gravity_scaling_factor": 0.8
}

回复示例：

{
    "ok": true
}

扭矩缩放​

方法邮寄

URL： http://localhost:10000/3.0/torque_scaling

身体示例：

{
    "device_id": "049D",
    "enable": true
}

回复示例：

{
    "ok": true
}

设备便携性​

方法邮寄

URL： http://localhost:10000/3.0/device_handedness

身体示例：

{
    "device_id": "049D",
    "handedness": "right"
}

回复示例：

{
    "ok": true
}

Websocket​

默认 websocket URL 为 ws://localhost:10000.注意：端口可在配置中更改。

初始信息​

当连接到 websocket 时，服务会发送一条包含完整设备列表的信息。初始信息如下 JSON 格式：

{
    "inverse3": {
        "049D": {
            "config": {
                "device_info": {
                    "firmware_version": 1,
                    "hardware_version": 7,
                    "id": "049D",
                    "model": 4,
                    "uuid": "5A9F3AC02E085C078AD6A4A113DE049D"
                },
                "extended_device_id": "5A9F3AC02E085C078AD6A4A113DE049D",
                "extended_firmware_version": "77488E4644CB6057D0920B0B919C8B82",
                "gravity_compensation": {
                    "enabled": true,
                    "scaling_factor": 0.75
                },
                "handedness": "left",
                "torque_scaling": {
                    "enabled": true
                }
            },
            "device_id": "049D",
            "state": {
                "angular_position": {
                    "a0": -90.40308380126953,
                    "a1": 3.390819549560547,
                    "a2": 0.8826223015785217
                },
                "angular_velocity": {
                    "a0": 0,
                    "a1": 0,
                    "a2": 0
                },
                "body_orientation": {
                    "w": 1,
                    "x": 0,
                    "y": 0,
                    "z": 0
                },
                "calibrated": false,
                "cursor_position": {
                    "x": -0.022379431873559952,
                    "y": -0.011212021112442017,
                    "z": -0.11827600002288818
                },
                "cursor_velocity": {
                    "x": 0,
                    "y": 0,
                    "z": 0
                },
                "in_use": false,
                "mode": "angle",
                "power_supply": true,
                "ready": true,
                "started": true
            },
            "status": {
                "initialization_received": {
                    "body_orientation": true,
                    "device_handedness": true,
                    "device_info": true,
                    "extended_device_id": true,
                    "extended_firmware_version": true,
                    "gravity_compensation": true,
                    "torque_scaling": true
                },
                "port": "COM12"
            }
        }
    },
    "verse_grip": {
        "61582": {
            "button": false,
            "device_id": "61582",
            "error": 0,
            "hall": 0,
            "orientation": {
                "w": 0.156982421875,
                "x": -0.24163818359375,
                "y": -0.95751953125,
                "z": -0.00079345703125
            }
        }
    },
    "wireless_verse_grip": {
        "0": {
            "battery_level": 0.5999999046325684,
            "buttons": {
                "a": false,
                "b": false,
                "c": false
            },
            "device_id": "0",
            "hall": 15,
            "orientation": {
                "w": -0.91265869140625,
                "x": -0.389984130859375,
                "y": -0.075103759765625,
                "z": -0.07635498046875
            }
        }
    }
}

状态更新信息​

无论何时 任何 发生变化时，服务将发送一条状态更新信息，其中包含 一应俱全 devices. If you wish to know the state of the machine, you must send it a message beforehand, such as a force value (even if the values are zeros). This is particularly important if using our devices as an input device, such as tracking position and not applying force. The state update message has the following JSON 格式：

{
    "inverse3": {
        "049D": {
            "state": {
                "angular_position": {
                    "a0": 0,
                    "a1": 0,
                    "a2": 0
                },
                "angular_velocity": {
                    "a0": 0,
                    "a1": 0,
                    "a2": 0
                },
                "body_orientation": {
                    "w": 1,
                    "x": 0,
                    "y": 0,
                    "z": 0
                },
                "calibrated": true,
                "cursor_position": {
                    "x": -0.022203030064702034,
                    "y": -0.027979673817753792,
                    "z": -0.1170499324798584
                },
                "cursor_velocity": {
                    "x": 0,
                    "y": 0,
                    "z": 0
                },
                "in_use": true,
                "mode": "position",
                "power_supply": false,
                "ready": true,
                "started": true
            }
        }
    },
    "verse_grip": {
        "61582": {
            "button": false,
            "device_id": "61582",
            "error": 0,
            "hall": 0,
            "orientation": {
                "w": 0.15423583984375,
                "x": -0.24176025390625,
                "y": -0.95794677734375,
                "z": -0.0015869140625
            }
        }
    },
    "wireless_verse_grip": {
        "0": {
            "battery_level": 0.5999999046325684,
            "buttons": {
                "a": false,
                "b": false,
                "c": false
            },
            "device_id": "0",
            "hall": 15,
            "orientation": {
                "w": -0.3958740234375,
                "x": 0.639190673828125,
                "y": -0.404388427734375,
                "z": -0.51739501953125
            }
        }
    }
}

指令信息​

为了向 inverse3 客户端必须发送命令信息。下面是一个例子：

{
    "inverse3": {
        "049D": [
            {
                "command": "set_cursor_force",
                "values": {
                    "x": 0,
                    "y": 0,
                    "z": 0
                }
            }
        ]
    }
}

此外，还可以在一条信息中向多个设备发送命令：

{
    "inverse3": {
        "049D": [
            {
                "command": "set_cursor_force",
                "values": {
                    "x": 0,
                    "y": 0,
                    "z": 0
                }
            }
        ],
        "049E": [
            {
                "command": "set_cursor_force",
                "values": {
                    "x": 0,
                    "y": 0,
                    "z": 0
                }
            }
        ]
    }
}

目前可在 inverse3:

设置光标位置​
{
    "command": "set_cursor_position",
    "values": {
        "x": 1.0,
        "y": 2.0,
        "z": 3.0
    }
}
设置光标力​
{
    "command": "set_cursor_force",
    "values": {
        "x": 0.5,
        "y": 0.5,
        "z": 0.5
    }
}
设置角度位置​
{
    "command": "set_angular_position",
    "values": {
        "a0": 1.0,
        "a1": 2.0,
        "a2": 3.0
    }
}
设置角扭矩​
{
    "command": "set_angular_torque",
    "values": {
        "a0": 0.5,
        "a1": 0.5,
        "a2": 0.5
    }
}