Release v4.1.0 of Boston Dynamics Spot SDK

Author: bd-sdk-publisher

README.md

@@ -6,23 +6,25 @@ is subject to the terms and conditions of the Boston Dynamics Software
 Development Kit License (20191101-BDSDK-SL).
 -->
 
-# Spot  C++ SDK (BETA)
+# Spot C++ SDK (BETA)
 
 Develop applications and payloads for Spot using the Boston Dynamics Spot C++ SDK. The Spot C++ SDK is a **beta** release.
 
 The C++ SDK consists of:
-*  [C++ client library](docs/cpp/README.md). Applications using the C++ library can control Spot and read sensor and health information from Spot. A variety of example programs and a QuickStart guide are also included.
-*  [Spot C++ SDK Repository](https://github.com/boston-dynamics/spot-cpp-sdk). The GitHub repo where all of the Spot C++ SDK code is hosted.
+
+- [C++ client library](docs/cpp/README.md). Applications using the C++ library can control Spot and read sensor and health information from Spot. A variety of example programs and a QuickStart guide are also included.
+- [Spot C++ SDK Repository](https://github.com/boston-dynamics/spot-cpp-sdk). The GitHub repo where all of the Spot C++ SDK code is hosted.
 
 The official Spot SDK documentation also contains information relevant to the C++ SDK:
-*  [Conceptual documentation](https://dev.bostondynamics.com/docs/concepts/readme). These documents explain the key abstractions used by the Spot API.
-*  [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 4.0.3 of the C++ SDK. Please review the [Release Notes](docs/cpp_release_notes.md) to see what has changed.
+- [Conceptual documentation](https://dev.bostondynamics.com/docs/concepts/readme). These documents explain the key abstractions used by the Spot API.
+- [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.
 
 ## Contents
 
-* [C++ Library](docs/cpp/README.md)
-* [Release Notes](docs/cpp_release_notes.md)
-* [SDK Repository](https://github.com/boston-dynamics/spot-cpp-sdk)
+- [C++ Library](docs/cpp/README.md)
+- [Release Notes](docs/cpp_release_notes.md)
+- [SDK Repository](https://github.com/boston-dynamics/spot-cpp-sdk)

cpp/README.md

@@ -13,19 +13,21 @@ The C++ SDK includes C++ libraries and examples.
 ## Coding standards and dependencies.
 
 The C++ implementation follows these requirements:
-  * A modern C++14 compiler toolchain.
-  * Does not make use of exceptions or RTTI.
-  * Generally complies with the Google C++ style guide.
-  * Doxygen-friendly comments, particularly in header files.
+
+- A modern C++14 compiler toolchain.
+- Does not make use of exceptions or RTTI.
+- Generally complies with the Google C++ style guide.
+- Doxygen-friendly comments, particularly in header files.
 
 Library Dependencies:
-  * C++14 standard library. Many advanced features, such as functional programming and concurrency support are used.
-  * Google's gRPC C++ library, as well as it's transitive dependencies.
-  * Unit tests depend on gTest.
-  * Eigen for math operations
+
+- C++14 standard library. Many advanced features, such as functional programming and concurrency support are used.
+- Google's gRPC C++ library, as well as it's transitive dependencies.
+- Unit tests depend on gTest.
+- Eigen for math operations
 
 ## Contents
 
-* [Client](bosdyn/client/README.md)
-* [Common](bosdyn/common/README.md)
-* [Math](bosdyn/math/README.md)
+- [Client](bosdyn/client/README.md)
+- [Common](bosdyn/common/README.md)
+- [Math](bosdyn/math/README.md)

cpp/bosdyn/client/auth/auth_client.cpp

@@ -24,9 +24,9 @@ const char* AuthClient::s_default_service_authority = "auth.spot.robot";
 
 const char* AuthClient::s_service_type = "bosdyn.api.AuthService";
 
-std::shared_future<AuthResultType> AuthClient::GetAuthTokenAsync(
-    const std::string& username, const std::string& password,
-    const RPCParameters& parameters) {
+std::shared_future<AuthResultType> AuthClient::GetAuthTokenAsync(const std::string& username,
+                                                                 const std::string& password,
+                                                                 const RPCParameters& parameters) {
     std::promise<AuthResultType> response;
     std::shared_future<AuthResultType> future = response.get_future();
     BOSDYN_ASSERT_PRECONDITION(m_stub != nullptr, "Stub for service is unset!");
@@ -36,16 +36,18 @@ std::shared_future<AuthResultType> AuthClient::GetAuthTokenAsync(
     request.set_password(password);
 
     MessagePumpCallBase* one_time =
-        InitiateAsyncCall<::bosdyn::api::GetAuthTokenRequest, ::bosdyn::api::GetAuthTokenResponse, ::bosdyn::api::GetAuthTokenResponse>(
+        InitiateAsyncCall<::bosdyn::api::GetAuthTokenRequest, ::bosdyn::api::GetAuthTokenResponse,
+                          ::bosdyn::api::GetAuthTokenResponse>(
             request,
-            std::bind(&::bosdyn::api::AuthService::Stub::AsyncGetAuthToken, m_stub.get(), _1, _2, _3),
+            std::bind(&::bosdyn::api::AuthService::StubInterface::AsyncGetAuthToken, m_stub.get(),
+                      _1, _2, _3),
             std::bind(&AuthClient::OnGetAuthTokenComplete, this, _1, _2, _3, _4, _5),
             std::move(response), parameters);
     return future;
 }
 
-std::shared_future<AuthResultType> AuthClient::GetAuthTokenAsync(
-    const std::string& token, const RPCParameters& parameters) {
+std::shared_future<AuthResultType> AuthClient::GetAuthTokenAsync(const std::string& token,
+                                                                 const RPCParameters& parameters) {
     std::promise<AuthResultType> response;
     std::shared_future<AuthResultType> future = response.get_future();
     BOSDYN_ASSERT_PRECONDITION(m_stub != nullptr, "Stub for service is unset!");
@@ -54,33 +56,35 @@ std::shared_future<AuthResultType> AuthClient::GetAuthTokenAsync(
     request.set_token(token);
 
     MessagePumpCallBase* one_time =
-        InitiateAsyncCall<::bosdyn::api::GetAuthTokenRequest, ::bosdyn::api::GetAuthTokenResponse, ::bosdyn::api::GetAuthTokenResponse>(
+        InitiateAsyncCall<::bosdyn::api::GetAuthTokenRequest, ::bosdyn::api::GetAuthTokenResponse,
+                          ::bosdyn::api::GetAuthTokenResponse>(
             request,
-            std::bind(&::bosdyn::api::AuthService::Stub::AsyncGetAuthToken, m_stub.get(), _1, _2, _3),
+            std::bind(&::bosdyn::api::AuthService::StubInterface::AsyncGetAuthToken, m_stub.get(),
+                      _1, _2, _3),
             std::bind(&AuthClient::OnGetAuthTokenComplete, this, _1, _2, _3, _4, _5),
             std::move(response), parameters);
 
     return future;
 }
 
-AuthResultType AuthClient::GetAuthToken(
-    const std::string& username, const std::string& password,
-    const RPCParameters& parameters) {
+AuthResultType AuthClient::GetAuthToken(const std::string& username, const std::string& password,
+                                        const RPCParameters& parameters) {
     return GetAuthTokenAsync(username, password, parameters).get();
 }
 
-AuthResultType AuthClient::GetAuthToken(
-    const std::string& token, const RPCParameters& parameters) {
+AuthResultType AuthClient::GetAuthToken(const std::string& token, const RPCParameters& parameters) {
     return GetAuthTokenAsync(token, parameters).get();
 }
 
 // Set the outstanding response, which will update any futures. Reset it.
-void AuthClient::OnGetAuthTokenComplete(
-    MessagePumpCallBase* call, const ::bosdyn::api::GetAuthTokenRequest& request,
-    ::bosdyn::api::GetAuthTokenResponse&& response, const grpc::Status& status,
-    std::promise<AuthResultType> promise) {
-    ::bosdyn::common::Status ret_status = ProcessResponseAndGetFinalStatus<::bosdyn::api::GetAuthTokenResponse>(
-        status, response, response.status());
+void AuthClient::OnGetAuthTokenComplete(MessagePumpCallBase* call,
+                                        const ::bosdyn::api::GetAuthTokenRequest& request,
+                                        ::bosdyn::api::GetAuthTokenResponse&& response,
+                                        const grpc::Status& status,
+                                        std::promise<AuthResultType> promise) {
+    ::bosdyn::common::Status ret_status =
+        ProcessResponseAndGetFinalStatus<::bosdyn::api::GetAuthTokenResponse>(status, response,
+                                                                              response.status());
     if (!ret_status) {
         promise.set_value({ret_status, std::move(response)});
         return;

cpp/bosdyn/client/auth/auth_client.h

@@ -22,7 +22,7 @@ namespace client {
 
 // This typedef needs to be a std::shared_ptr to satisfy the InitiateCall templatized method in
 // ServiceClient
-    typedef Result<::bosdyn::api::GetAuthTokenResponse> AuthResultType;
+typedef Result<::bosdyn::api::GetAuthTokenResponse> AuthResultType;
 
 class AuthClient : public ServiceClient {
  public:
@@ -36,17 +36,16 @@ class AuthClient : public ServiceClient {
         const RPCParameters& parameters = RPCParameters());
 
     // Synchronous method to get an auth token for username/password combination.
-    AuthResultType GetAuthToken(
-        const std::string& username, const std::string& password,
-        const RPCParameters& parameters = RPCParameters());
+    AuthResultType GetAuthToken(const std::string& username, const std::string& password,
+                                const RPCParameters& parameters = RPCParameters());
 
     // Asynchronous method to get an auth token for provided token.
     std::shared_future<AuthResultType> GetAuthTokenAsync(
         const std::string& token, const RPCParameters& parameters = RPCParameters());
 
     // Synchronous method to get an auth token for provided token.
-    AuthResultType GetAuthToken(
-        const std::string& token, const RPCParameters& parameters = RPCParameters());
+    AuthResultType GetAuthToken(const std::string& token,
+                                const RPCParameters& parameters = RPCParameters());
 
     // Start of ServiceClient overrides.
     QualityOfService GetQualityOfService() const override;
@@ -65,12 +64,12 @@ class AuthClient : public ServiceClient {
     static std::string GetServiceType() { return s_service_type; }
 
  private:
-    void OnGetAuthTokenComplete(
-        MessagePumpCallBase* call, const ::bosdyn::api::GetAuthTokenRequest& request,
-        ::bosdyn::api::GetAuthTokenResponse&& response, const grpc::Status& status,
-        std::promise<AuthResultType> promise);
+    void OnGetAuthTokenComplete(MessagePumpCallBase* call,
+                                const ::bosdyn::api::GetAuthTokenRequest& request,
+                                ::bosdyn::api::GetAuthTokenResponse&& response,
+                                const grpc::Status& status, std::promise<AuthResultType> promise);
 
-    std::unique_ptr<::bosdyn::api::AuthService::Stub> m_stub;
+    std::unique_ptr<::bosdyn::api::AuthService::StubInterface> m_stub;
 
     // Default service name for the Auth service.
     static const char* s_default_service_name;