00. Device List

Discovers all connected Haply devices via the HTTP REST API — no WebSocket needed. A simple smoke test that the runtime is up and detecting hardware.

What you'll learn:

• Querying GET /devices to list Inverse3, VerseGrip, and Wireless VerseGrip devices
• Reading device IDs from the JSON response, grouped by device type
• Using a session selector to switch between raw device coordinates and a session's application-space view

Workflow

1. Send GET http://localhost:10001/devices.
2. Parse the JSON response — three top-level arrays: inverse3, verse_grip, wireless_verse_grip.
3. Print the device IDs grouped by type. Empty arrays mean no device of that type is detected.
4. If a session selector is appended as ?session=<selector>, the response is filtered to that session's devices and coordinates are converted to its application space (basis, mount, workspace applied). The Python sample exposes this as a --session SELECTOR CLI argument (accepts :profile:instance, #id, :-1, :0, …) — the same flag with the same help text that Tutorial 08 (HTTP Remote Config) uses, so a selector found here can be pasted directly there. The C++ samples query without a selector.

Parameters

Parameter	Default	Purpose
Service URL	http://localhost:10001	HTTP base URL
Endpoint	/devices	Device discovery endpoint
Session selector	(none)	?session=:0, ?session=:-1, ?session=:my_profile:0, ?session=co.haply.hub::*:0 (glob wildcards supported) — see Selectors. Exposed as --session SELECTOR in the Python sample (same flag as Tutorial 08).

Key code

Python

The Python sample exposes the session selector as a --session SELECTOR argparse argument. Without it, devices are returned in raw device-space coordinates; with it, they're filtered to the selected session and converted to application space. The help text matches Tutorial 08 (HTTP Remote Config) so a selector found here can be pasted directly there.

def parse_args():
    parser = argparse.ArgumentParser(
        description="List connected Haply Inverse devices via the HTTP API.")
    parser.add_argument(
        "--session", type=str, default="",
        help=(
            "Session selector. Formats:\n"
            "  :profile:instance   by profile name (e.g. ':my_profile:0')\n"
            "  pattern:instance    glob wildcard in profile (e.g. 'co.haply.hub::*:0')\n"
            "                      '*' matches any sequence, '?' one character\n"
            "  #session_id         by numeric id (e.g. '#42' — quote in shells to escape '#')\n"
            "  :-1                 the last active session\n"
            "  :0                  the first session"
        ))
    return parser.parse_args()

def main():
    args    = parse_args()
    session = args.session or None

    url = f"{BASE_URL}/devices"
    if session:
        url += f"?session={session}"
        print(f"Querying devices for session '{session}' (application space)\n")
    else:
        print("Querying all detected devices (device space)\n")

    r = requests.get(url, timeout=3)
    r.raise_for_status()
    data = r.json()

    print_devices("Inverse3", data.get("inverse3"))
    print_devices("Wired Verse Grip", data.get("verse_grip"))
    print_devices("Wireless Verse Grip", data.get("wireless_verse_grip"))

C++ (nlohmann)

The C++ variant uses libhv for HTTP and nlohmann/json for parsing. It manually checks each top-level key with contains() and iterates the array if non-empty. The C++ samples don't expose the session-selector CLI argument — append ?session=<selector> to the URL if you need application-space coordinates.

HttpResponsePtr resp = requests::get("localhost:10001/devices");
if (resp == nullptr) { /* ... error ... */ return 1; }

json data = json::parse(resp->body);

if (data.contains("inverse3") && !data["inverse3"].empty()) {
    printf("Inverse3 found:\n");
    for (auto &element : data["inverse3"]) {
        printf("   (id: %s)\n", element["device_id"].get<std::string>().c_str());
    }
}
// ... same pattern for verse_grip and wireless_verse_grip

C++ (Glaze)

The Glaze variant declares plain structs that mirror the JSON shape — Glaze fills them via compile-time reflection. No contains() checks needed: missing arrays come back as empty std::vector<>.

static constexpr glz::opts glz_settings{.error_on_unknown_keys = false};

struct device_entry { std::string device_id; };
struct devices_response {
    std::vector<device_entry> inverse3;
    std::vector<device_entry> verse_grip;
    std::vector<device_entry> wireless_verse_grip;
};

// In main():
HttpResponsePtr resp = requests::get("localhost:10001/devices");
devices_response data;
if (auto err = glz::read<glz_settings>(data, resp->body)) {
    printf("JSON parse error: %s\n", glz::format_error(err, resp->body).c_str());
    return 1;
}

for (const auto &dev : data.inverse3) {
    printf("   (id: %s)\n", dev.device_id.c_str());
}

Shipping with the SDK installer

Tutorial 00 is also installed locally with the SDK — look in tutorials/00-haply-inverse-device-list/ under the service install directory.

Source: Python · C++ · C++ Glaze

Related: JSON Conventions · Selectors · Sessions