SmartArmMaster for Windows

Note: Research Only (Noncommercial) License

Master program used for the SmartArm and related systems. Currently compatible only with the 3DSystems device family. Reads relevant information from the operator-side computer and sends it to the patient-side computer running sas_operator_side_receiver .

Disclaimer

Use at your own risk, there is no support nor warranty of any kind.

Quick start

1. Install the device drivers of your 3DSystem device (Vendor Link)
2. Configure your device with the TouchSmartSetup.exe or similar application. This will name your devices as either {Left,Right}Device for two devices, or Default Device for one device setups.
3. Install the SmartArmMaster application by downloading the latest installer from the release page in this repository.
4. Configure the configuration.json file as needed. (More information below)
5. Run the program SmartArmMaster.exe. If there are no errors, a GUI similar to the one shown at the beginning of the README will appear.

Configuration

Some information for the commonly used fields in configuration.json. Variables not listed here should be considered advanced.

Variable	Meaning
left_arm_id	The label for your left device. Usually Left Device in bimanual systems.
right_arm_id	The label for your right device. Usually Right Device in bimanual systems or Default Device when only one interface is used.
ps_ip_address	Patient-side (ps) IP, that is, the IP of the computer running the sas_operator_side_receiver .
ps_port	The port used together with the ps_id_address, such as 2222
os_ip_address	Operator-side (os) IP, that is, the IP of the computer running this program.
clutch_virtual_key_code	The key which will be used to emulate the clutch, as a Windows Virtual-Key Code
additional_virtual_key_codes	A list of additional keys that can be used for arbitrary purposes on the receiving end, as Windows Virtual-Key Codes

Protocol V3

Protocol of the information from the haptic interface

smart_arm_master_windows/protocol_v3_example.cpp

Lines 1 to 75 in a9eb72c

	/**
	This is the information obtained from the haptic interface.
	*/
	void send_manipulator_information_packet_version_3()
	{
	QByteArray buffer;
	QDataStream s(&buffer, QIODevice::WriteOnly);
	//Unique information
	s << qint32(3);//Packet version -- Hard coded version
	s << qint32(0);//Computer index
	s << qint32(0);//Cluch state, 0 or 1
	s << float(20.0);//Motion scaling, larger than zero but not enforced here.
	s << qint32(0);//Number of additional keys, in this case none.
	for(auto& additional_key_and_state: additional_virtual_key_codes_and_states_)
	{
	s << qint32(std::get<1>(additional_key_and_state));//The state of each additional key
	}
	s << qint32(2);//Number of master manipulators, usually 1 or 2
	//For each master manipulator
	for(int manipulator_index=0;manipulator_index < 2;manipulator_index++)
	{
	s << qint32(manipulator_index);
	const DQ t = manipulator->get_translation();
	const DQ r = manipulator->get_rotation();
	const DQ t_dot = manipulator->get_linear_velocity();
	const DQ r_dot = manipulator->get_angular_velocity();
	s << float(t.q(1))
	<< float(t.q(2))
	<< float(t.q(3))
	<< float(r.q(0))
	<< float(r.q(1))
	<< float(r.q(2))
	<< float(r.q(3))
	<< float(t_dot.q(1))
	<< float(t_dot.q(2))
	<< float(t_dot.q(3))
	<< float(r_dot.q(1))
	<< float(r_dot.q(2))
	<< float(r_dot.q(3))
	<< float(manipulator->get_button())//Master button state
	<< float(manipulator->get_gripper());//If there is a CONTEC gripper attached
	}
	}
	//Checksum
	quint16 crc16 = qChecksum(buffer,uint(buffer.size()));
	s << quint16(crc16);
	//Send
	QHostAddress ip;
	//Just an example of target IP
	if(ip.setAddress("192.168.0.1"))
	{
	//Example port
	int port = 2222;
	qint64 return_value = udp_socket_.writeDatagram(buffer, ip, quint16(port));
	if(return_value == -1)
	{
	std::runtime_error("Error sending packet");
	}
	}
	}

Protocol of the "force" feedback sent to the haptic interface

smart_arm_master_windows/protocol_v3_example.cpp

Lines 76 to 102 in a9eb72c

	/**
	This is the "force" feedback information sent to the haptic interface.
	*/
	void send_manipulator_force_information_packet_version_3()
	{
	QByteArray buffer_out;
	QDataStream s(&buffer_out,QIODevice::WriteOnly);
	s << packet_version;
	s << computer_index;
	s << number_of_manipulators;
	for(auto i=0;i<number_of_manipulators;i++)
	{
	s << quint16(1);//Manipulator valid
	s << float(force_x) <<
	float(force_y) <<
	float(force_z) <<
	float(torque_x) <<
	float(torque_y) <<
	float(torque_z);
	}
	quint16 crc16_out = qChecksum(buffer_out,buffer_out.size());
	s << (quint16)crc16_out;
	//Do something with the s
	}