Release/v1.0

.clang-format

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+BinPackArguments: true
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+BreakBeforeBraces: Mozilla
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+ColumnLimit: 100
+CommentPragmas: "^ IWYU pragma:"
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.github/ISSUE_TEMPLATE/bug_report.md

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+---
+name: Bug Report
+about: Report a bug to help us improve
+title: "[BUG] "
+type: Bug
+labels: bug
+assignees: pzhu-flexiv
+
+---
+
+## Version info
+
+- DRDK: [e.g. v1.0]
+- Robot software: [e.g. v3.9]
+- OS: [e.g. Ubuntu 22.04, x86_64]
+
+## How urgent is this bug? Have you found any workarounds?
+
+On a scale of 1 to 10.
+
+## Describe the issue and expected behavior
+
+The issue is ...
+The correct behavior you expect is  ...
+
+## Steps to reproduce
+
+1. '....'
+2. '....'
+3. '....'
+4. See error
+
+## Screenshots
+
+If applicable, add screenshots to help explain your issue.
+
+## Additional context
+
+Add any other context about the issue.

.github/ISSUE_TEMPLATE/feature_request.md

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+---
+name: Feature Request
+about: Suggest a new feature
+title: "[FEATURE] "
+type: Feature
+labels: enhancement
+assignees: pzhu-flexiv
+
+---
+
+## How urgent is this feature?
+
+On a scale of 1 to 10.
+
+## Is this feature request related to a problem?
+
+This new feature is needed so that ... can be solved.
+
+## Describe the solution you'd like
+
+What you want to happen.
+
+## Describe alternatives you've considered
+
+Any alternative solutions or workarounds you've considered.
+
+## Additional context
+
+Add any other context or screenshots about this feature.

.github/ISSUE_TEMPLATE/question.md

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+---
+name: Question
+about: Ask a question related to DRDK
+title: "[QUESTION] "
+type: Question
+labels: help wanted
+assignees: pzhu-flexiv
+
+---
+
+## There might already be an answer to your question
+
+Someone might have asked similar questions before, you can search in the [Issues](https://github.com/flexivrobotics/flexiv_drdk/issues?q=type%3AQuestion) tab.
+
+## Not sure how to get started and write a working DRDK program?
+
+The usage of Flexiv DRDK is similar to Flexiv RDK, thus you can take a look at the [C++ examples](https://github.com/flexivrobotics/flexiv_rdk/tree/main/example) or [Python examples](https://github.com/flexivrobotics/flexiv_rdk/tree/main/example_py) from Flexiv RDK to get started.
+
+## Is this related to a specific version of DRDK?
+
+If yes, please specify.
+
+## Please describe your question
+
+Texts, screenshots, links, code blocks ...

.github/workflows/cmake.yml

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+name: CMake
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+  workflow_dispatch:
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build-ubuntu-22:
+    # GitHub-hosted Ubuntu 22.04 runner
+    runs-on: ubuntu-22.04
+    # Use shared steps
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/workflows/shared_steps

.github/workflows/shared_steps/action.yml

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+name: "Shared Build Steps"
+runs:
+  using: "composite"
+  # Note: working directory will be reset to the repo root for each new step
+  steps:
+    # Build and install all dependencies to RDK installation directory.
+    - name: Build and install dependencies
+      shell: bash
+      run: |
+        pwd
+        cd thirdparty
+        bash build_and_install_dependencies.sh ~/drdk_install 4
+
+    # Configure CMake, then build and install flexiv_rdk library to RDK installation directory.
+    - name: Build and install library
+      shell: bash
+      run: |
+        pwd
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_INSTALL_PREFIX=~/drdk_install
+        cmake --build . --target install --config Release
+
+    # Find and link to flexiv_rdk library, then build all example programs.
+    - name: Build examples
+      shell: bash
+      run: |
+        pwd
+        cd example
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_PREFIX_PATH=~/drdk_install
+        cmake --build . --config Release -j 4

.gitignore

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+.vscode
+.vs
+.DS_Store
+config.h
+build*/
+install/
+cloned/
+html/
+__pycache__

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16.3)
+
+# ===================================================================
+#      PROJECT SETUP
+# ===================================================================
+project(flexiv_drdk VERSION 1.0.0)
+
+# Configure build type
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release CACHE STRING "CMake build type" FORCE)
+endif()
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Release" "Debug" "RelWithDebInfo")
+
+# Set static library according to platform
+message(STATUS "OS: ${CMAKE_SYSTEM_NAME}")
+message(STATUS "Processor: ${CMAKE_SYSTEM_PROCESSOR}")
+if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+  if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
+    set(RDK_STATIC_LIB "libflexiv_drdk.x86_64-linux-gnu.a")
+  elseif(${CMAKE_SYSTEM_PROCESSOR} MATCHES "aarch64")
+    set(RDK_STATIC_LIB "libflexiv_drdk.aarch64-linux-gnu.a")
+  else()
+    message(FATAL_ERROR "Linux with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
+  endif()
+elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+  if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm64")
+    set(RDK_STATIC_LIB "libflexiv_drdk.arm64-darwin.a")
+  else()
+    message(FATAL_ERROR "Mac with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
+  endif()
+elseif(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+  if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "AMD64")
+    set(RDK_STATIC_LIB "flexiv_drdk.win_amd64.lib")
+  else()
+    message(FATAL_ERROR "Windows with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
+  endif()
+endif()
+
+# ===================================================================
+#      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()
+
+# Flexiv RDK
+find_package(flexiv_rdk REQUIRED)
+if(flexiv_rdk_FOUND)
+  message(STATUS "Found flexiv_rdk: ${flexiv_rdk_DIR}")
+endif()
+
+# ===================================================================
+#      CREATE LIBRARY
+# ===================================================================
+# Create an INTERFACE library with no source file to compile
+add_library(${PROJECT_NAME} INTERFACE)
+
+# Create an alias of the library using flexiv namespace,
+# to imitate the install target which uses flexiv namespace.
+add_library(flexiv::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+
+target_include_directories(${PROJECT_NAME} INTERFACE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+target_link_libraries(${PROJECT_NAME} INTERFACE
+  ${CMAKE_CURRENT_SOURCE_DIR}/lib/${RDK_STATIC_LIB}
+  Threads::Threads
+  flexiv::flexiv_rdk
+)
+
+# Use moderate compiler warning option
+if(CMAKE_HOST_UNIX)
+  target_compile_options(${PROJECT_NAME} INTERFACE -Wall -Wextra)
+else()
+  target_compile_options(${PROJECT_NAME} INTERFACE /W1)
+endif()
+
+# Install the INTERFACE library
+include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/FlexivInstallLibrary.cmake)
+FlexivInstallLibrary()