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Version: 3.0.7

Haply Inverse Service

The Haply Inverse Service is a foundational component that integrates Haply's tactile devices with interactive applications, running as a background Windows service to enable real-time interactions. Its functionalities include:

  • Device Discovery and Management: Identifies and configures connected Haply devices automatically.
  • Ownership Management: Manages access to devices across multiple applications, ensuring smooth operation.
  • Real-Time State Streaming: Provides updates on device states at high frequencies for precise control.
  • Command Processing: Executes commands for force or position with high fidelity, enhancing the haptic feedback.
  • Background Operation: Runs in the background, maintaining device readiness without user intervention.

Run, stop, restart​

On Windows:

  • Open the Services desktop app: Press Windows+R to open the Run box, enter services.msc, and then press Enter or select OK.

On Ubuntu:

  • Start
    • systemctl start haply-inverse-service.service
  • Stop
    • systemctl stop haply-inverse-service.service
  • Enable
    • systemctl enable haply-inverse-service.service
  • Disable
    • systemctl disable haply-inverse-service.service

Important files​

On Windows:

  • The configuration files are located in: %PROGRAMDATA%\Haply\Inverse\*-config.json
  • The logs files are located in: %PROGRAMDATA%\Haply\Inverse\*-log.log

On Ubuntu:

  • The configuration files are located in: /etc/haply-inverse-service/*-config.json
  • The logs files are located in: /var/log/haply-inverse-service/*-log.log

On OSX:

  • The configuration files are located in: $TMPDIR/Haply/Inverse/*-config.json
  • The logs files are located in: $TMPDIR/Haply/Inverse/*-log.log

Interfaces​

Both the HTTP and Websocket interfaces use JSON formatted payloads.

HTTP​

By default the HTTP service starts on: http://localhost:10000. Note: the port can be changed in the configuration.

Dashboard​

The dashboard is available at: http://localhost:10000

Version​

Method: GET

URL: http://localhost:10000/3.0/version

Response example:

{
    "build_time": "2024-08-07T16:01:53Z",
    "git_branch": "main",
    "git_describe": "3.0.0-2-gce34c39e",
    "git_hash": "ce34c39e",
    "git_tag": "3.0.0",
    "project_name": "haply-inverse-service",
    "project_version": "3.0.0.0"
}

Devices​

Method: GET

URL: http://localhost:10000/3.0/devices

Response example:

{
    "inverse3": {
        "049D": {
            "config": {
                "device_info": {
                    "firmware_version": 1,
                    "hardware_version": 7,
                    "id": "049D",
                    "model": 4,
                    "uuid": "5A9F3AC02E085C078AD6A4A113DE049D"
                },
                "extended_device_id": "5A9F3AC02E085C078AD6A4A113DE049D",
                "extended_firmware_version": "77488E4644CB6057D0920B0B919C8B82",
                "gravity_compensation": {
                    "enabled": true,
                    "scaling_factor": 0.75
                },
                "handedness": "left",
                "torque_scaling": {
                    "enabled": true
                }
            },
            "device_id": "049D",
            "state": {
                "angular_position": {
                    "a0": 0.0,
                    "a1": 0.0,
                    "a2": 0.0
                },
                "angular_velocity": {
                    "a0": 0.0,
                    "a1": 0.0,
                    "a2": 0.0
                },
                "body_orientation": {
                    "w": 1.0,
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "calibrated": false,
                "cursor_position": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "cursor_velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "in_use": false,
                "mode": "idle",
                "power_supply": false,
                "ready": false,
                "started": false
            },
            "status": {
                "initialization_received": {
                    "body_orientation": true,
                    "device_handedness": true,
                    "device_info": true,
                    "extended_device_id": true,
                    "extended_firmware_version": true,
                    "gravity_compensation": true,
                    "torque_scaling": true
                },
                "port": "COM12"
            }
        }
    },
    "verse_grip": {
        "61582": {
            "button": false,
            "device_id": "61582",
            "error": 0,
            "hall": 0,
            "orientation": {
                "w": 0.17022705078125,
                "x": -0.24114990234375,
                "y": -0.95538330078125,
                "z": -0.001220703125
            }
        }
    },
    "wireless_verse_grip": {
        "0": {
            "battery_level": 0.6200001239776611,
            "buttons": {
                "a": false,
                "b": false,
                "c": false
            },
            "device_id": "0",
            "hall": 15,
            "orientation": {
                "w": -0.906463623046875,
                "x": -0.379058837890625,
                "y": -0.111785888671875,
                "z": -0.136688232421875
            }
        }
    }
}

Force Scale​

Method: POST

URL: http://localhost:10000/3.0/force_scale

Body example:

{
    "force_scale": 0.5
}

Response example:

{
    "ok": true
}

Gravity Compensation​

Method: POST

URL: http://localhost:10000/3.0/gravity_compensation

Body example:

{
    "device_id": "049D",
    "enable": true,
    "gravity_scaling_factor": 0.8
}

Response example:

{
    "ok": true
}

Torque scaling​

Method: POST

URL: http://localhost:10000/3.0/torque_scaling

Body example:

{
    "device_id": "049D",
    "enable": true
}

Response example:

{
    "ok": true
}

Device Handedness​

Method: POST

URL: http://localhost:10000/3.0/device_handedness

Body example:

{
    "device_id": "049D",
    "handedness": "right"
}

Response example:

{
    "ok": true
}

Save Configuration​

Only works with Inverse3 devices. Warning: Avoid saving the configuration too often, since there is a limited number of save that can be applied to any given device.

Method: POST

URL: http://localhost:10000/3.0/save_configuration

Body example:

{
    "device_id": "049D"
}

Response example:

{
    "ok": true
}

Serial Enable​

Enable or disable all the serial communication. When the serial communication is disabled it is impossible to send commands to the devices.

Method: POST

URL: http://localhost:10000/3.0/serial_enable

Body example:

{
    "enable": true
}

Response example:

{
    "ok": true
}

Grip Vertical Stopper​

Enable or disable all the grip vertical stopper feature.

Method: POST

URL: http://localhost:10000/3.0/features/grip_dropped_simulation_stopper

Body example:

{
    "enable": true,
    "hall_effect_threshold": 17
}

Response example:

{
    "ok": true
}

Websocket​

The default websocket URL is ws://localhost:10000. Note: the port can be changed in the configuration.

Initial Message​

The service sends a message containing the complete device list when a websocket is connected. The initial message has the following JSON format:

{
    "inverse3": {
        "049D": {
            "config": {
                "device_info": {
                    "firmware_version": 1,
                    "hardware_version": 7,
                    "id": "049D",
                    "model": 4,
                    "uuid": "5A9F3AC02E085C078AD6A4A113DE049D"
                },
                "extended_device_id": "5A9F3AC02E085C078AD6A4A113DE049D",
                "extended_firmware_version": "77488E4644CB6057D0920B0B919C8B82",
                "gravity_compensation": {
                    "enabled": true,
                    "scaling_factor": 0.75
                },
                "handedness": "left",
                "torque_scaling": {
                    "enabled": true
                }
            },
            "device_id": "049D",
            "state": {
                "angular_position": {
                    "a0": -90.40308380126953,
                    "a1": 3.390819549560547,
                    "a2": 0.8826223015785217
                },
                "angular_velocity": {
                    "a0": 0,
                    "a1": 0,
                    "a2": 0
                },
                "body_orientation": {
                    "w": 1,
                    "x": 0,
                    "y": 0,
                    "z": 0
                },
                "calibrated": false,
                "cursor_position": {
                    "x": -0.022379431873559952,
                    "y": -0.011212021112442017,
                    "z": -0.11827600002288818
                },
                "cursor_velocity": {
                    "x": 0,
                    "y": 0,
                    "z": 0
                },
                "in_use": false,
                "mode": "angle",
                "power_supply": true,
                "ready": true,
                "started": true
            },
            "status": {
                "initialization_received": {
                    "body_orientation": true,
                    "device_handedness": true,
                    "device_info": true,
                    "extended_device_id": true,
                    "extended_firmware_version": true,
                    "gravity_compensation": true,
                    "torque_scaling": true
                },
                "port": "COM12"
            }
        }
    },
    "verse_grip": {
        "61582": {
            "button": false,
            "device_id": "61582",
            "error": 0,
            "hall": 0,
            "orientation": {
                "w": 0.156982421875,
                "x": -0.24163818359375,
                "y": -0.95751953125,
                "z": -0.00079345703125
            }
        }
    },
    "wireless_verse_grip": {
        "0": {
            "battery_level": 0.5999999046325684,
            "buttons": {
                "a": false,
                "b": false,
                "c": false
            },
            "device_id": "0",
            "hall": 15,
            "orientation": {
                "w": -0.91265869140625,
                "x": -0.389984130859375,
                "y": -0.075103759765625,
                "z": -0.07635498046875
            }
        }
    }
}

State Update Message​

Whenever any of the available devices has a change, the service will send a state update message containing the state of all devices. The state update message has the following JSON format:

{
    "inverse3": {
        "049D": {
            "state": {
                "angular_position": {
                    "a0": 0,
                    "a1": 0,
                    "a2": 0
                },
                "angular_velocity": {
                    "a0": 0,
                    "a1": 0,
                    "a2": 0
                },
                "body_orientation": {
                    "w": 1,
                    "x": 0,
                    "y": 0,
                    "z": 0
                },
                "calibrated": true,
                "cursor_position": {
                    "x": -0.022203030064702034,
                    "y": -0.027979673817753792,
                    "z": -0.1170499324798584
                },
                "cursor_velocity": {
                    "x": 0,
                    "y": 0,
                    "z": 0
                },
                "in_use": true,
                "mode": "position",
                "power_supply": false,
                "ready": true,
                "started": true
            }
        }
    },
    "verse_grip": {
        "61582": {
            "button": false,
            "device_id": "61582",
            "error": 0,
            "hall": 0,
            "orientation": {
                "w": 0.15423583984375,
                "x": -0.24176025390625,
                "y": -0.95794677734375,
                "z": -0.0015869140625
            }
        }
    },
    "wireless_verse_grip": {
        "0": {
            "battery_level": 0.5999999046325684,
            "buttons": {
                "a": false,
                "b": false,
                "c": false
            },
            "device_id": "0",
            "hall": 15,
            "orientation": {
                "w": -0.3958740234375,
                "x": 0.639190673828125,
                "y": -0.404388427734375,
                "z": -0.51739501953125
            }
        }
    }
}

Command Message​

In order to send commands to the inverse3 the client has to send a command message. Here is an example:

{
    "inverse3": {
        "049D": [
            {
                "command": "set_cursor_force",
                "values": {
                    "x": 0,
                    "y": 0,
                    "z": 0
                }
            }
        ]
    }
}

Also, it is possible to send commands to multiple devices in a single message. here is an example:

{
    "inverse3": {
        "049D": [
            {
                "command": "set_cursor_force",
                "values": {
                    "x": 0,
                    "y": 0,
                    "z": 0
                }
            }
        ],
        "049E": [
            {
                "command": "set_cursor_force",
                "values": {
                    "x": 0,
                    "y": 0,
                    "z": 0
                }
            }
        ]
    }
}

The following commands are currently available on the inverse3:

Set Cursor Position​
{
    "command": "set_cursor_position",
    "values": {
        "x": 1.0,
        "y": 2.0,
        "z": 3.0
    }
}
Set Cursor Force​
{
    "command": "set_cursor_force",
    "values": {
        "x": 0.5,
        "y": 0.5,
        "z": 0.5
    }
}
Set Angular Position​
{
    "command": "set_angular_position",
    "values": {
        "a0": 1.0,
        "a1": 2.0,
        "a2": 3.0
    }
}
Set Angular Torque​
{
    "command": "set_angular_torque",
    "values": {
        "a0": 0.5,
        "a1": 0.5,
        "a2": 0.5
    }
}