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Merged
tcappellari-bdai merged 3 commits into from
Jan 8, 2026
Merged

5.1.0 sdk update #16

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76c4dd7
Release v5.0.1.1 of Boston Dynamics Spot SDK
bd-sdk-publisher Oct 7, 2025
d486e67
Release v5.0.1.2 of Boston Dynamics Spot SDK
bd-sdk-publisher Oct 22, 2025
9254e9a
Release v5.1.0 of Boston Dynamics Spot SDK
bd-sdk-publisher Dec 22, 2025
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -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 5.0.1 of the C++ SDK. Please review the [Release Notes](docs/cpp_release_notes.md) to see what has changed.
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.

## Contents

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2 changes: 1 addition & 1 deletion cpp/CMakeLists.txt
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Expand Up @@ -7,7 +7,7 @@
# This file is autogenerated.

cmake_minimum_required (VERSION 3.10.2)
project (bosdyn VERSION 5.0.1)
project (bosdyn VERSION 5.1.0)

# Dependencies:
find_package(Protobuf REQUIRED)
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1 change: 1 addition & 0 deletions cpp/bosdyn/client/data_buffer/signal_schema_key.h
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Expand Up @@ -9,6 +9,7 @@

#pragma once

#include <stdint.h>
#include <string>

namespace bosdyn {
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8 changes: 7 additions & 1 deletion cpp/bosdyn/client/data_chunk/data_chunking.h
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Expand Up @@ -9,6 +9,8 @@

#pragma once

#include "google/protobuf/io/coded_stream.h"
#include "google/protobuf/io/zero_copy_stream_impl_lite.h"
#include "bosdyn/client/error_codes/sdk_error_code.h"
#include "bosdyn/client/service_client/result.h"

Expand Down Expand Up @@ -42,8 +44,12 @@ Result<T> MessageFromDataChunks(const std::vector<const ::bosdyn::api::DataChunk
return {result.status, {}};
}

google::protobuf::io::ArrayInputStream array_input(result.response.data(),
result.response.size());
google::protobuf::io::CodedInputStream coded_input(&array_input);
coded_input.SetRecursionLimit(500);
T output;
if (!output.ParseFromString(result.response)) {
if (!output.ParseFromCodedStream(&coded_input)) {
return {::bosdyn::common::Status(SDKErrorCode::GenericSDKError,
"Could not deserialize concatenated chunks into message"),
{}};
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122 changes: 43 additions & 79 deletions cpp/bosdyn/client/error_codes/proto_enum_to_stderror_macro.h
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Expand Up @@ -13,84 +13,48 @@
#include <system_error>

// This macro goes in some helper file.
#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ns, ns_def, ns_def_parenthesis) \
namespace std { \
template <> \
struct is_error_code_enum<ns::enumclass> : public true_type {}; \
} \
ns_def std::error_code make_error_code(ns::enumclass); \
ns_def_parenthesis
#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ns) \
namespace std { \
template <> \
struct is_error_code_enum<::ns::enumclass> : public true_type {}; \
} \
namespace ns { \
std::error_code make_error_code(::ns::enumclass); \
}

// Define wrapper for macro above for each namespace, so it is easier to call the macro
#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_API(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api, \
namespace bosdyn{namespace api{ \
, \
}})

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_AUTO_RETURN(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::auto_return, \
namespace bosdyn{namespace api{namespace auto_return{ \
, \
}}})

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_AUTOWALK(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::autowalk, \
namespace bosdyn{namespace api{namespace autowalk{ \
, \
}}})

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_KEEPALIVE(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::keepalive, \
namespace bosdyn{namespace api{namespace keepalive{ \
, \
}}})

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_LOG_STATUS(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::log_status, \
namespace bosdyn{namespace api{namespace log_status{ \
, \
}}})

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_SPOT(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::spot, \
namespace bosdyn{namespace api{namespace spot{ \
, \
}}})

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_MISSION(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::mission, \
namespace bosdyn{namespace api{namespace mission{ \
, \
}}})

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_GRAPHNAV(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::graph_nav, \
namespace bosdyn{namespace api{namespace graph_nav{ \
, \
}}})

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_METRICS(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::metrics_logging, \
namespace bosdyn{namespace api{namespace metrics_logging{ \
, \
}}})

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_INTERNAL(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::internal, \
namespace bosdyn{namespace api{namespace internal{ \
, \
}}})

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_LOCALNAV(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER( \
enumclass, ::bosdyn::api::internal::localnav, \
namespace bosdyn{namespace api{namespace internal{namespace localnav{ \
, \
}}}})

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_DOCKING(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, ::bosdyn::api::docking, \
namespace bosdyn{namespace api{namespace docking{ \
, \
}}})
#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_API(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api)

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_AUTO_RETURN(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::auto_return)

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_AUTOWALK(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::autowalk)

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_KEEPALIVE(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::keepalive)

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_LOG_STATUS(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::log_status)

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_SPOT(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::spot)

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_MISSION(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::mission)

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_GRAPHNAV(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::graph_nav)

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_METRICS(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::metrics_logging)

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_INTERNAL(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::internal)

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_LOCALNAV(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::internal::localnav)

#define DEFINE_PROTO_ENUM_ERRORCODE_HEADER_DOCKING(enumclass) \
DEFINE_PROTO_ENUM_ERRORCODE_HEADER(enumclass, bosdyn::api::docking)
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