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Flexiv RDK CSharp

License

Flexiv RDK CSharp provides C# developers with an easy way to work with Flexiv RDK. It uses P/Invoke to call most of the functions from the RDK C++ interface, excluding flexiv::rdk::Model and flexiv::rdk::Scheduler.

Reference

For detailed usage instructions and API documentation, refer to the Flexiv RDK Home Page.

Compatibility

Language Supported OS Platform Compiler / Runtime Notes
C++ Windows 10+ x64 MSVC v14.2+ (VS 2019+) Builds dynamic library (.dll)
C# Windows 10+ x64 .NET 5.0 or later Uses DllImport to call C++ DLL

Project Structure

It calls the C++ interfaces from flexiv_rdk via P/Invoke and wraps them with C# interfaces.

  • csharp/: C# project containing the wrapper and usage examples.
    • FlexivRdk/: C# wrapper classes calling functions from the native DLL.
    • Examples/: Example programs demonstrating usage of the C# wrappers.
    • Program.cs: Entry point, runs selected example programs.
  • cpp_wrapper/: C++ project wrapping flexiv_rdk C++ interfaces and generating a dynamic library (.dll).
  • install/: Installs flexiv_rdk dependencies and C++ wrapper dynamic libraries to custom output directories.
  • released_dll/: Precompiled dynamic libraries for immediate use.
  • third_party/：Third-party library folder.

Usage

This repository provides C# bindings for the Flexiv RDK. You can either directly use the existing interfaces, or extend the native C++ wrapper and rebuild the dynamic libraries as needed.

Option:1 Direct Use (Run Existing Examples)

If you simply want to run the C# examples using the provided native DLLs, follow these steps:

  1. Navigate to the C# project directory:

     cd flexiv_rdk_csharp/csharp

  2. Build the project in Release mode:

     dotnet build csharp.csproj -c Release

    NOTE: During the build process, DLLs from the released_dll directory will be automatically copied to the output directory.

  3. Run the example program:

     dotnet run --project csharp.csproj -c Release

    NOTE: Usage instructions will appear in the command line. Please select a sample program, such as:

     dotnet run --project csharp.csproj basics1_display_robot_states Rizon4-123456

  4. If you want to use the interface in your own project:

    • Include the .cs files from the csharp/FlexivRdk/ folder.
    • Place the dynamic libraries from released_dll/ in the same directory as your compiled .exe file.

Option 2: Extend C++ Interface and Rebuild DLL

If you want to modify or extend the native C++ wrapper (cpp_wrapper), or rebuild the DLLs from source with latest dependencies:

  1. Navigate to the project root directory:

     cd flexiv_rdk_csharp

  2. Run the build script:

     bash build_and_install_flexiv_rdk_dll.sh

    NOTE: On Windows, if the project involves long file paths, please ensure that Long Path Support is enabled in the system settings to avoid build or runtime errors caused by path length limitations.

    • Download and install flexiv_rdk and third-party dependencies.
    • Build the C++ wrapper.
    • Generate and install updated DLLs to install/ directory

    NOTE: After rebuilding, make sure to copy the new DLLs from install/cpp_wrapper/bin/ into your C# app's output directory (same place as the .exe).

License

This project is licensed under the Apache License 2.0.