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Release v5.1.0 of Boston Dynamics Spot SDK
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‎README.md‎

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@@ -21,7 +21,7 @@ The official Spot SDK documentation also contains information relevant to the C+
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- [Payload developer documentation](https://dev.bostondynamics.com/docs/payload/readme). Payloads add additional sensing, communication, and control capabilities beyond what the base platform provides. The Payload ICD covers the mechanical, electrical, and software interfaces that Spot supports.
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- [Spot API protocol definition](https://dev.bostondynamics.com/docs/protos/readme). This reference guide covers the details of the protocol applications used to communicate to Spot. Application developers who wish to use a language other than Python can implement clients that speak the protocol.
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This is version 5.0.1.2 of the C++ SDK. Please review the [Release Notes](docs/cpp_release_notes.md) to see what has changed.
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This is version 5.1.0 of the C++ SDK. Please review the [Release Notes](docs/cpp_release_notes.md) to see what has changed.
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## Contents
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‎cpp/CMakeLists.txt‎

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# This file is autogenerated.
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cmake_minimum_required (VERSION 3.10.2)
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project (bosdyn VERSION 5.0.1.2)
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project (bosdyn VERSION 5.1.0)
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# Dependencies:
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find_package(Protobuf REQUIRED)

‎cpp/bosdyn/client/data_buffer/signal_schema_key.h‎

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#pragma once
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#include <stdint.h>
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#include <string>
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namespace bosdyn {

‎cpp/bosdyn/client/data_chunk/data_chunking.h‎

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#pragma once
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#include "google/protobuf/io/coded_stream.h"
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#include "google/protobuf/io/zero_copy_stream_impl_lite.h"
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#include "bosdyn/client/error_codes/sdk_error_code.h"
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#include "bosdyn/client/service_client/result.h"
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return {result.status, {}};
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}
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google::protobuf::io::ArrayInputStream array_input(result.response.data(),
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result.response.size());
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google::protobuf::io::CodedInputStream coded_input(&array_input);
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coded_input.SetRecursionLimit(500);
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T output;
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if (!output.ParseFromString(result.response)) {
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if (!output.ParseFromCodedStream(&coded_input)) {
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return {::bosdyn::common::Status(SDKErrorCode::GenericSDKError,
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"Could not deserialize concatenated chunks into message"),
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{}};

‎cpp/bosdyn/client/error_codes/proto_enum_to_stderror_macro.h‎

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#include <system_error>
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// This macro goes in some helper file.
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ns, ns_def, ns_def_parenthesis) \
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namespace std { \
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template <> \
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struct is_error_code_enum<ns::enumclass> : public true_type {}; \
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} \
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ns_def std::error_code make_error_code(ns::enumclass); \
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ns_def_parenthesis
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ns) \
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namespace std { \
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template <> \
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struct is_error_code_enum<::ns::enumclass> : public true_type {}; \
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} \
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namespace ns { \
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std::error_code make_error_code(::ns::enumclass); \
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}
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// Define wrapper for macro above for each namespace, so it is easier to call the macro
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_API(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api, \
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namespace bosdyn{namespace api{ \
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, \
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}})
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_AUTO_RETURN(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::auto_return, \
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namespace bosdyn{namespace api{namespace auto_return{ \
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, \
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}}})
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_AUTOWALK(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::autowalk, \
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namespace bosdyn{namespace api{namespace autowalk{ \
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, \
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}}})
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_KEEPALIVE(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::keepalive, \
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namespace bosdyn{namespace api{namespace keepalive{ \
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, \
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}}})
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_LOG_STATUS(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::log_status, \
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namespace bosdyn{namespace api{namespace log_status{ \
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, \
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}}})
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_SPOT(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::spot, \
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namespace bosdyn{namespace api{namespace spot{ \
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, \
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}}})
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_MISSION(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::mission, \
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namespace bosdyn{namespace api{namespace mission{ \
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, \
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}}})
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_GRAPHNAV(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::graph_nav, \
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namespace bosdyn{namespace api{namespace graph_nav{ \
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, \
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}}})
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_METRICS(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::metrics_logging, \
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namespace bosdyn{namespace api{namespace metrics_logging{ \
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, \
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}}})
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_INTERNAL(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::internal, \
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namespace bosdyn{namespace api{namespace internal{ \
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, \
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}}})
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_LOCALNAV(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER( \
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enumclass, ::bosdyn::api::internal::localnav, \
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namespace bosdyn{namespace api{namespace internal{namespace localnav{ \
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, \
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}}}})
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_DOCKING(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::docking, \
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namespace bosdyn{namespace api{namespace docking{ \
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, \
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}}})
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_API(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api)
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_AUTO_RETURN(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::auto_return)
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_AUTOWALK(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::autowalk)
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_KEEPALIVE(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::keepalive)
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_LOG_STATUS(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::log_status)
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_SPOT(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::spot)
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_MISSION(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::mission)
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_GRAPHNAV(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::graph_nav)
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_METRICS(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::metrics_logging)
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_INTERNAL(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::internal)
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_LOCALNAV(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::internal::localnav)
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#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_DOCKING(enumclass) \
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DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::docking)

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