Haply Inverse SDK

Haply Service SDK是一项在后台运行的服务，用于Haply 设备和计算机。语言无关的 SDK 为Haply 硬件，包括Inverse3 、 Inverse3X 、 Minverse和Versegrip 。

其功能包括：

• 设备发现和管理：列出并配置连接的Haply 通过HTTP REST API 自动连接设备。
• 实时状态流：以高频率提供设备状态更新，实现精确控制和WebSockets通信。
• 命令处理：以高保真度执行力或位置命令，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。

安装

从develop.haply.co下载最新的反向安装程序，运行并按照安装说明进行操作。

一旦安装，逆向服务应该自动在后台运行。

温馨提示

使用Haply 设备管理器可轻松管理服务并查看连接的设备。

使用示例

以下 Python 代码片段演示了如何通过WebSockets接口与Inverse Service交互以从Inverse3和Wireless Verse Grip设备读取数据。

代码读取设备的位置、速度、按钮和方向，并向Inverse3设备发送零力命令。

import asyncio  # To run async loops
import websockets  # Required for device communication
import orjson  # JSON reader for fast processing

# Main asynchronous loop
async def main():
    uri = 'ws://localhost:10001'  # WebSocket port for Inverse Service 3.1 json format
    first_message = True
    inverse3_device_id = None
    force = {"x": 0, "y": 0, "z": 0}  # Forces to send to the Inverse3 device.

    # Haptic loop
    async with websockets.connect(uri) as ws:
        while True:
            # Receive data from the device
            response = await ws.recv()
            data = orjson.loads(response)

            # Get devices list from the data
            inverse3_devices = data.get("inverse3", [])
            verse_grip_devices = data.get("wireless_verse_grip", [])

            # Get the first device from the list
            inverse3_data = inverse3_devices[0] if inverse3_devices else {}
            verse_grip_data = verse_grip_devices[0] if verse_grip_devices else {}

            # Handle the first message to get device IDs and extra information
            if first_message:
                first_message = False

                if not inverse3_data:
                    print("No Inverse3 device found.")
                    break
                if not verse_grip_data:
                    print("No Wireless Verse Grip device found.")

                # Store device ID for sending forces
                inverse3_device_id = inverse3_data.get("device_id")

                # Get handedness from Inverse3 device config data (only available in the first message)
                handedness = inverse3_devices[0].get("config", {}).get("handedness")

                print(f"Inverse3 device ID: {inverse3_device_id}, Handedness: {handedness}")

                if verse_grip_data:
                    print(f"Wireless Verse Grip device ID: {verse_grip_data.get("device_id")}")

            # Extract position, velocity from Inverse3 device state
            position = inverse3_data["state"].get("cursor_position", {})
            velocity = inverse3_data["state"].get("cursor_velocity", {})

            # Extract buttons and orientation from Wireless Verse Grip device state (or default if not found)
            buttons = verse_grip_data.get("state", {}).get("buttons", {})
            orientation = verse_grip_data.get("state", {}).get("orientation", {})

            print(f"Position: {position} Velocity: {velocity} Orientation: {orientation} Buttons: {buttons}")

            # Prepare the force command message to send
            # Must send forces to receive state updates (even if forces are 0)
            request_msg = {
                "inverse3": [
                    {
                        "device_id": inverse3_device_id,
                        "commands": {
                            "set_cursor_force": {
                                "values": force
                            }
                        }
                    }
                ]
            }

            # Send the force command message to the server
            await ws.send(orjson.dumps(request_msg))


# Run the asynchronous main function
if __name__ == "__main__":
    asyncio.run(main())

警告

更改力值以谨慎地对Inverse3设备施加力。突然增加的力值可能会损坏设备或导致意外行为。

信息

有关 json 格式的更多信息请参阅Inverse Service websocket

其他示例

基本的 C++ 示例 位于安装目录中（%programfiles%\Haply\Inverse).

资料来源： tutorial 文件夹中，编译后的示例可在 bin 文件夹。