Tutorials

Each tutorial is a standalone program that demonstrates one capability of the Inverse Service. Three language variants ship side-by-side so you can compare idioms and pick the stack that fits your project:

• Python — the shortest, easiest entry point (websockets + json)
• C++ (nlohmann/json) — portable C++11, runtime-parsed JSON
• C++ (Glaze) — modern C++20 with compile-time reflection and zero-allocation parsing, recommended for real-time haptic loops

Source code is published in two public sample repositories:

• haply-inverse-cpp-samples — one directory per tutorial with both nlohmann/json (C++11) and Glaze (C++20) variants. Build targets have a -glz suffix for the Glaze variant.
• haply-inverse-python-samples — one directory per tutorial.

Each release of the Inverse Service pins a matching tag on both repos: follow the release/<version> branch to stay on the version that matches this documentation.

Prerequisites

• The Inverse Service is running (either via the Haply Hub or the standalone installer) on port 10001.
• At least one Haply device is detected. The tutorials each target a specific device family — see the table below.
• Python tutorials: pip install websockets (tutorials 04, 05, 06, 07 additionally need keyboard, which requires elevated privileges on Linux).
• C++ tutorials: CMake 3.15+ and a C++11 compiler for the nlohmann variants, C++20 for the Glaze (-glz) variants. The sample repo's top-level CMakeLists.txt fetches libhv, nlohmann/json, and glaze via FetchContent — no manual dependency setup.

Tutorial list

#	Name	Devices	Variants	What you'll learn
00	Device List	Any	Py · C++ · C++ Glaze	HTTP device discovery, session-scoped queries
01	Print Inverse3	Inverse3	Py · C++ · C++ Glaze	WebSocket state streaming, zero-force keepalive, first-message handshake
02	Print VerseGrip	Wired VG	Py · C++ · C++ Glaze	Orientation streaming, probe_orientation keepalive, quaternion → Euler
03	Print Wireless VG	WVG	Py · C++ · C++ Glaze	Buttons, battery, hall sensor
04	Hello Floor	Inverse3	Py · C++ · C++ Glaze	First haptic effect — set_cursor_force penalty spring
05	Position Control	Inverse3	Py · C++ · C++ Glaze	set_cursor_position control, random targets (C++) or WASD hold-to-move (Python)
06	Combined	Inverse3 + WVG	Py · C++ · C++ Glaze	Multi-device loop, quaternion-to-direction cursor drive
07	Basis & Mount	Inverse3	Py · C++ · C++ Glaze	configure.basis, configure.preset, and runtime configure.mount overrides; mutual exclusion between preset and mount
08	Remote Config (coming soon)	Any	Py	Remote device configuration over HTTP; session discovery by profile
10	Events	—	Py · C++ · C++ Glaze	Event stream listener on port 10020, level/name filtering

Tip — benchmark the haptic loop

Tutorial 10 (Events) is designed to be run alongside any other tutorial. With --no-hide-rate enabled, it prints the service's system-rate-report event, which includes the effective device tick rate. Compare the rate across the Python / C++ (nlohmann) / C++ (Glaze) variants of the same tutorial to observe the serialization overhead impact on a ~4 kHz control loop.

# Terminal 1 — pick a tutorial variant
./04-haply-inverse-hello-floor          # C++ nlohmann
./04-haply-inverse-hello-floor-glz      # C++ Glaze
python 04-haply-inverse-hello-floor.py  # Python

# Terminal 2 — watch the rate
./10-haply-inverse-events --no-hide-rate