Haply Inverse SDK

Haply Inverse SDK 这是一个与编程语言无关的WebSocket + HTTP接口，用于连接Haply触觉设备，包括 Inverse3、Inverse3x、Minverse、VerseGrip和Wireless VerseGrip。它以本地服务的形式运行，负责设备发现、串口通信、安全监控和状态流传输，因此您的应用只需通过套接字与JSON进行通信即可。

其功能包括：

• 设备发现与管理— 通过HTTP REST API 自动列出并配置已连接的Haply设备。
• 实时状态流传输— 通过 WebSocket 以可感知的速率（kHz 级别）传输设备状态。
• 指令处理——以高保真度执行运动和位置指令，实现精确的触觉反馈。
• 后台运行— 以本地服务形式运行，无需用户干预即可保持设备处于就绪状态。

使用 Haply Hub 安装

最简单的入门方法是 Haply Hub——一款用于安装、运行、配置、测试和监控 Haply 设备的桌面应用程序。它能确保固件始终保持最新版本，内置 Inverse Service，并附带演示程序，让您在编写任何代码之前即可验证硬件。

Haply Hub

下载Haply Hub的最新版本

下载并安装 Hub，连接您的设备，Hub 将引导您完成任何固件更新。安装完成后，只要 Hub 处于开启状态，Inverse Service就会在后台自动运行。

想要独立安装吗？

您也可以在不使用 Hub 的情况下，将特定版本的 Inverse Service 以系统服务（Windows）或守护进程（Linux / macOS）的形式进行安装。安装程序链接和说明请参阅“运行服务”。

快速示例

连接服务，读取第一个Inverse3的光标位置，并发送零力心跳信号，使服务持续推送状态帧：

Python

import asyncio, json, websockets

async def main():
    # Connect to the Haply Inverse service WebSocket
    async with websockets.connect("ws://localhost:10001") as ws:
        # Read the first state frame to discover the device id
        first_state = json.loads(await ws.recv())
        device_id = first_state["inverse3"][0]["device_id"]

        # Build a zero-force keepalive command targeting that device
        keepalive = {"inverse3": [{
            "device_id": device_id,
            "commands": {"set_cursor_force": {"vector": {"x": 0, "y": 0, "z": 0}}}
        }]}

        # Realtime loop: one send per tick, then read the resulting state
        while True:
            await ws.send(json.dumps(keepalive))
            state = json.loads(await ws.recv())
            pos = state["inverse3"][0]["state"]["cursor_position"]
            print(f"pos: {pos}")

asyncio.run(main())

JavaScript（Node）

import WebSocket from 'ws'

// Connect to the Haply Inverse service WebSocket
const ws = new WebSocket('ws://localhost:10001')
let keepalive

ws.on('message', (msg) => {
  const state = JSON.parse(msg)
  if (!keepalive) {
    // Read the first state frame to discover the device id
    const deviceId = state.inverse3[0].device_id
    // Build a zero-force keepalive command targeting that device
    keepalive = JSON.stringify({
      inverse3: [
        {
          device_id: deviceId,
          commands: { set_cursor_force: { vector: { x: 0, y: 0, z: 0 } } },
        },
      ],
    })
    ws.send(keepalive)
    return
  }
  // Realtime loop: one send per tick, then read the resulting state
  ws.send(keepalive)
  console.log('pos:', state.inverse3[0].state.cursor_position)
})

C++ (nlohmann)

#include <external/libhv.h>
#include <nlohmann/json.hpp>

int main() {
    hv::WebSocketClient ws;
    nlohmann::json keepalive;

    ws.onmessage = [&](const std::string& msg) {
        auto state = nlohmann::json::parse(msg);
        if (keepalive.is_null()) {
            // Read the first state frame to discover the device id
            auto device_id = state["inverse3"][0]["device_id"];
            // Build a zero-force keepalive command targeting that device
            keepalive = {{"inverse3", nlohmann::json::array({{
                {"device_id", device_id},
                {"commands", {{"set_cursor_force",
                    {{"vector", {{"x", 0}, {"y", 0}, {"z", 0}}}}}}}
            }})}};
            ws.send(keepalive.dump());
            return;
        }
        // Realtime loop: one send per tick, then read the resulting state
        ws.send(keepalive.dump());
        auto pos = state["inverse3"][0]["state"]["cursor_position"];
        std::cout << "pos: " << pos << "\n";
    };
    // Connect to the Haply Inverse service WebSocket
    ws.open("ws://localhost:10001");
    std::cin.get();
}

C++（优化版）

使用Glaze——世界上速度最快的 JSON 库之一——进行编译期反射。在触觉刷新率（数千赫兹）下，解析 JSON 所花费的每一微秒都会挤占控制回路的时间，因此这一点非常重要。请仅声明你需要读写的最小结构，其余部分将被忽略。

#include <external/libhv.h>
#include <glaze/glaze.hpp>

struct vec3 { float x{}, y{}, z{}; };
struct inverse_state { vec3 cursor_position; };
struct inverse_device { std::string device_id; inverse_state state; };
struct devices_message { std::vector<inverse_device> inverse3; };

struct set_cursor_force_cmd { vec3 vector; };
struct device_cmd { std::string device_id;
    struct { std::optional<set_cursor_force_cmd> set_cursor_force; } commands; };
struct commands_message { std::vector<device_cmd> inverse3; };

int main() {
    hv::WebSocketClient ws;
    commands_message keepalive;
    ws.onmessage = [&](const std::string& msg) {
        devices_message state{};
        if (glz::read_json(state, msg)) return;
        if (keepalive.inverse3.empty()) {
            // Read the first state frame to discover the device id
            auto device_id = state.inverse3[0].device_id;
            // Build a zero-force keepalive command targeting that device
            keepalive.inverse3.push_back({device_id});
            keepalive.inverse3[0].commands.set_cursor_force = set_cursor_force_cmd{};
            std::string out; (void)glz::write_json(keepalive, out);
            ws.send(out);
            return;
        }
        // Realtime loop: one send per tick, then read the resulting state
        std::string out; (void)glz::write_json(keepalive, out);
        ws.send(out);
        printf("pos: %f %f %f\n", state.inverse3[0].state.cursor_position.x,
               state.inverse3[0].state.cursor_position.y,
               state.inverse3[0].state.cursor_position.z);
    };
    // Connect to the Haply Inverse service WebSocket
    ws.open("ws://localhost:10001");
    std::cin.get();
}

Rust

使用 tokio-tungstenite + serde_json 示例（仅供参考）。

use futures_util::{SinkExt, StreamExt};
use serde_json::json;
use tokio_tungstenite::{connect_async, tungstenite::Message};

#[tokio::main]
async fn main() -> anyhow::Result<()> {
    // Connect to the Haply Inverse service WebSocket
    let (mut ws, _) = connect_async("ws://localhost:10001").await?;

    // Read the first state frame to discover the device id
    let first = match ws.next().await {
        Some(Ok(Message::Text(m))) => m,
        _ => anyhow::bail!("no initial state frame"),
    };
    let first_state: serde_json::Value = serde_json::from_str(&first)?;
    let device_id = first_state["inverse3"][0]["device_id"].as_str().unwrap();

    // Build a zero-force keepalive command targeting that device
    let keepalive = json!({
        "inverse3": [{
            "device_id": device_id,
            "commands": { "set_cursor_force": { "vector": { "x": 0, "y": 0, "z": 0 } } }
        }]
    }).to_string();

    // Realtime loop: one send per tick, then read the resulting state
    loop {
        ws.send(Message::Text(keepalive.clone())).await?;
        let msg = match ws.next().await {
            Some(Ok(Message::Text(m))) => m,
            _ => break,
        };
        let state: serde_json::Value = serde_json::from_str(&msg)?;
        println!("pos: {}", state["inverse3"][0]["state"]["cursor_position"]);
    }
    Ok(())
}

注意

请谨慎调整力值。突然施加过大的力值可能会损坏设备，或导致意外情况。

信息

有关消息封装、端口和内容类型（content-type）规则，请参阅JSON 规范页面。

更多示例

如需查看功能齐全的 Python、C++（nlohmann）和 C++（Glaze）教程（涵盖力反馈、位置控制、多设备配置、mount/basis 配置以及事件流），请参阅教程页面。