Release v4.1.1 of Boston Dynamics Spot SDK (#13)

Co-authored-by: Boston Dynamics SDK Publisher <[email protected]>

Author: mhidalgo-rai

README.md

@@ -21,7 +21,7 @@ The official Spot SDK documentation also contains information relevant to the C+
 - [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.
 - [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.
 
-This is version 4.1.0 of the C++ SDK. Please review the [Release Notes](docs/cpp_release_notes.md) to see what has changed.
+This is version 4.1.1 of the C++ SDK. Please review the [Release Notes](docs/cpp_release_notes.md) to see what has changed.
 
 ## Contents
 

cpp/CMakeLists.txt

@@ -7,7 +7,7 @@
 # This file is autogenerated.
 
 cmake_minimum_required (VERSION 3.10.2)
-project (bosdyn VERSION 4.1.0)
+project (bosdyn VERSION 4.1.1)
 
 # Dependencies:
 find_package(Protobuf REQUIRED)

cpp/bosdyn/client/README.md

@@ -8,19 +8,22 @@ Development Kit License (20191101-BDSDK-SL).
 
 # Client Classes
 
-The bosdyn/client folder contains client interfaces for interacting with the Boston Dynamics Spot 
-API. The client interfaces implement the Remote Procedure Calls (RPCs) in the 
+The bosdyn/client folder contains client interfaces for interacting with the Boston Dynamics Spot
+API. The client interfaces implement the Remote Procedure Calls (RPCs) in the
 [API protobuf definitions](https://dev.bostondynamics.com/protos/bosdyn/api/readme).
 
 ## Main Classes
+
 The main classes contained in this folder are ClientSdk and Robot.
-* **ClientSdk**: Class for settings typically common to a single developer and/or robot fleet.
-* **Robot**: Class for settings common to one user's access to one robot. This is the main point 
-of access to all client functionality.
 
-For example, to list the robot image sources using the Image client, simply create an Sdk object, 
-create a Robot object, authenticate, create the client and call the 
+- **ClientSdk**: Class for settings typically common to a single developer and/or robot fleet.
+- **Robot**: Class for settings common to one user's access to one robot. This is the main point
+  of access to all client functionality.
+
+For example, to list the robot image sources using the Image client, simply create an Sdk object,
+create a Robot object, authenticate, create the client and call the
 corresponding method, as shown below. It is that simple!
+
 ```
 auto client_sdk = ::bosdyn::client::CreateStandardSDK("hello_spot");
 auto robot = client_sdk->CreateRobot("10.0.0.3").move();
@@ -29,5 +32,5 @@ auto image_client = robot->EnsureServiceClient<::bosdyn::client::ImageClient>().
 auto result =  image_client->ListImageSources().move();
 ```
 
-Clients that trigger robot movement also need to set up the TimeSync, Lease and E-Stop clients. Our 
-[Python examples](https://github.com/boston-dynamics/spot-sdk/tree/master/python/examples) repository contains many tutorials on how to use the clients. The API for the Spot Python SDK is very similar to the API for the Spot C++ SDK, and most Python examples can be used as reference on how to implement C++ applications. The Spot C++ SDK contains examples as well, listed [here](../../examples/README.md).
+Clients that trigger robot movement also need to set up the TimeSync, Lease and E-Stop clients. Our
+[Python examples](https://github.com/boston-dynamics/spot-sdk/tree/master/python/examples) repository contains many tutorials on how to use the clients. The API for the Spot Python SDK is very similar to the API for the Spot C++ SDK, and most Python examples can be used as reference on how to implement C++ applications. The Spot C++ SDK contains examples as well, listed [here](../../examples/README.md).

cpp/bosdyn/client/directory/directory_helpers.cpp

@@ -9,8 +9,8 @@
 
 #include "directory_helpers.h"
 
-#include "bosdyn/client/sdk/client_sdk.h"
 #include "bosdyn/client/error_codes/directory_helper_error_code.h"
+#include "bosdyn/client/sdk/client_sdk.h"
 
 namespace bosdyn {
 

cpp/bosdyn/client/directory_registration/directory_registration_helpers.h

@@ -13,8 +13,8 @@
 #include <thread>
 
 #include "directory_registration_client.h"
-#include "bosdyn/client/service_client/common_result_types.h"
 #include "bosdyn/client/fault/fault_client.h"
+#include "bosdyn/client/service_client/common_result_types.h"
 
 #include <bosdyn/api/directory.pb.h>
 

cpp/bosdyn/client/error_codes/error_type_condition.cpp

@@ -9,9 +9,9 @@
 
 #include <iostream>
 
+#include "bosdyn/client/error_codes/error_type_condition.h"
 #include "bosdyn/client/error_codes/rpc_error_code.h"
 #include "bosdyn/client/error_codes/sdk_error_code.h"
-#include "bosdyn/client/error_codes/error_type_condition.h"
 
 namespace {  // anonymous namespace
 

cpp/bosdyn/client/error_codes/time_sync_helper_error_code.cpp

@@ -8,8 +8,8 @@
 
 
 #include "bosdyn/client/error_codes/time_sync_helper_error_code.h"
-#include "bosdyn/client/error_codes/sdk_error_code.h"
 #include "bosdyn/client/error_codes/error_type_condition.h"
+#include "bosdyn/client/error_codes/sdk_error_code.h"
 #include "bosdyn/common/success_condition.h"
 
 namespace bosdyn {
@@ -25,13 +25,15 @@ struct TimeSyncHelperErrorCodeCategory : std::error_category {
 };
 
 bool TimeSyncHelperErrorCodeCategory::equivalent(int valcode,
-                                      const std::error_condition& cond) const noexcept {
+                                                 const std::error_condition& cond) const noexcept {
     if (cond == SuccessCondition::Success) return (valcode == 0);
     if (cond == ErrorTypeCondition::SDKError) return true;
     return false;
 }
 
-const char* TimeSyncHelperErrorCodeCategory::name() const noexcept { return "TimeSyncHelperErrorCode"; }
+const char* TimeSyncHelperErrorCodeCategory::name() const noexcept {
+    return "TimeSyncHelperErrorCode";
+}
 
 std::string TimeSyncHelperErrorCodeCategory::message(int value) const {
     switch (static_cast<TimeSyncHelperErrorCode>(value)) {
@@ -43,21 +45,22 @@ std::string TimeSyncHelperErrorCodeCategory::message(int value) const {
 
 const TimeSyncHelperErrorCodeCategory TimeSyncHelperErrorCodeCategory_category{};
 
-
 struct EstablishTimeSyncErrorCodeCategory : std::error_category {
     const char* name() const noexcept override;
     std::string message(int ev) const override;
     bool equivalent(int valcode, const std::error_condition& cond) const noexcept override;
 };
 
-bool EstablishTimeSyncErrorCodeCategory::equivalent(int valcode,
-                                      const std::error_condition& cond) const noexcept {
+bool EstablishTimeSyncErrorCodeCategory::equivalent(
+    int valcode, const std::error_condition& cond) const noexcept {
     if (cond == SuccessCondition::Success) return (valcode == 0);
     if (cond == ErrorTypeCondition::SDKError) return true;
     return false;
 }
 
-const char* EstablishTimeSyncErrorCodeCategory::name() const noexcept { return "EstablishTimeSyncErrorCode"; }
+const char* EstablishTimeSyncErrorCodeCategory::name() const noexcept {
+    return "EstablishTimeSyncErrorCode";
+}
 
 std::string EstablishTimeSyncErrorCodeCategory::message(int value) const {
     switch (static_cast<EstablishTimeSyncErrorCode>(value)) {
@@ -76,13 +79,15 @@ struct RobotTimeSyncErrorCodeCategory : std::error_category {
 };
 
 bool RobotTimeSyncErrorCodeCategory::equivalent(int valcode,
-                                      const std::error_condition& cond) const noexcept {
+                                                const std::error_condition& cond) const noexcept {
     if (cond == SuccessCondition::Success) return (valcode == 0);
     if (cond == ErrorTypeCondition::SDKError) return true;
     return false;
 }
 
-const char* RobotTimeSyncErrorCodeCategory::name() const noexcept { return "RobotTimeSyncErrorCode"; }
+const char* RobotTimeSyncErrorCodeCategory::name() const noexcept {
+    return "RobotTimeSyncErrorCode";
+}
 
 std::string RobotTimeSyncErrorCodeCategory::message(int value) const {
     switch (static_cast<RobotTimeSyncErrorCode>(value)) {
@@ -94,7 +99,7 @@ std::string RobotTimeSyncErrorCodeCategory::message(int value) const {
 
 const RobotTimeSyncErrorCodeCategory RobotTimeSyncErrorCodeCategory_category{};
 
-} // anonymous namespace
+}  // anonymous namespace
 
 std::error_code make_error_code(RobotTimeSyncErrorCode value) {
     return {static_cast<int>(value), RobotTimeSyncErrorCodeCategory_category};

cpp/bosdyn/client/error_codes/time_sync_helper_error_code.h

@@ -31,8 +31,8 @@ std::error_code make_error_code(TimeSyncHelperErrorCode);
 std::error_code make_error_code(EstablishTimeSyncErrorCode);
 std::error_code make_error_code(RobotTimeSyncErrorCode);
 
-}  // client namespace
-}  // bosdyn namespace
+}  // namespace client
+}  // namespace bosdyn
 
 namespace std {
 template <>

cpp/bosdyn/client/estop/estop_keepalive.h

@@ -18,9 +18,9 @@
 
 #include <bosdyn/api/estop.pb.h>
 
-#include "bosdyn/common/status.h"
 #include "bosdyn/client/estop/estop_client.h"
 #include "bosdyn/client/estop/estop_endpoint.h"
+#include "bosdyn/common/status.h"
 
 namespace bosdyn {
 

cpp/bosdyn/client/processors/common_response_processor.cpp

@@ -8,8 +8,8 @@
 
 
 #include "common_response_processor.h"
-#include "bosdyn/client/error_codes/sdk_error_code.h"
 #include "bosdyn/client/error_codes/header_error_code.h"
+#include "bosdyn/client/error_codes/sdk_error_code.h"
 
 namespace bosdyn {