Push the 2.1 release changes (#34)

* Add changes for Gen3 lite release 2.1

* Update download links for 2.1 API

* Add table for download links

.gitignore

@@ -1,3 +1,5 @@
 kortex_api/
 kortex_api*.zip
-api_cpp/examples/build/
+api_cpp/examples/build*
+.vscode/
+__pycache__/

api_cpp/doc/markdown/enums/ActuatorConfig/CustomDataIndex.md

@@ -62,6 +62,12 @@ Enumeration CustomDataIndex
 |FLOAT\_CURRENT\_MOTOR\_CMD|53|Motor current command sent to motor drive \(Amperes\)|
 |FLOAT\_TORQUE\_JOINT\_CMD|54|Axis torque command sent to joint torque control loop \(Newton-meters\)|
 |FLOAT\_POSITION\_UNWRAPPED|55|Actuator position unwrapped \(degrees\)|
+|UINT32\_HALL\_SENSOR\_0|56|Hall sensor 0 value \(raw\)|
+|UINT32\_HALL\_SENSOR\_1|57|Hall sensor 1 value \(raw\)|
+|UINT32\_HALL\_SENSOR\_2|58|Hall sensor 2 value \(raw\)|
+|INT32\_HALL\_SENSOR\_SCALED\_0|59|Hall sensor 0 scaled value \(raw\)|
+|INT32\_HALL\_SENSOR\_SCALED\_1|60|Hall sensor 1 scaled value \(raw\)|
+|INT32\_HALL\_SENSOR\_SCALED\_2|61|Hall sensor 2 scaled value \(raw\)|
 
 **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md)
 

api_cpp/doc/markdown/enums/ActuatorConfig/SafetyIdentifierBankA.md

@@ -33,6 +33,7 @@ Enumeration SafetyIdentifierBankA
 |WATCHDOG\_TRIGGERED|8388608|0x800000 - Watchdog triggered|
 |UNRELIABLE\_CAPACITIVE\_SENSOR|16777216|0x1000000 - Capacitive sensor is unreliable|
 |UNEXPECTED\_GEAR\_RATIO|33554432|0x2000000 - Incorrect gear ratio for detected configuration|
+|HALL\_MAGNETIC\_MISMATCH|67108864|0x4000000 - Position mismatch between hall and magnetic sensors|
 
 **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md)
 

api_cpp/doc/markdown/enums/Api/SubErrorCodes.md

@@ -93,11 +93,13 @@ Enumeration SubErrorCodes
 |MAXIMUM\_USER\_PROFILES\_USED|107|Maximum number of user profiles in use|
 |ROUTER\_UNVAILABLE|108|The client router is currently unavailable. This can happen if an API method is called after the router has been deactivated via the method SetActivationStatus.|
 |ADDRESS\_NOT\_IN\_VALID\_RANGE|120|IP Address not valid against netmask|
+|ADDRESS\_NOT\_CONFIGURABLE|121|IP Address not configurable on specified interface|
 |SESSION\_NOT\_IN\_CONTROL|130|Trying to perform command from a non-controlling session in single-level mode|
 |METHOD\_TIMEOUT|131|Timeout occured during method execution|
 |UNSUPPORTED\_ROBOT\_CONFIGURATION|132|Product Configuration setter method failed because changing this parameter is unsupported on your robot model|
 |NVRAM\_READ\_FAIL|133|Failed to read in NVRAM.|
 |NVRAM\_WRITE\_FAIL|134|Failed to write in NVRAM.|
+|NETWORK\_NO\_ADDRESS\_ASSIGNED|135|The specified interface has no assigned IP|
 
 **Parent topic:** [Api \(C++\)](../../summary_pages/Api.md)
 

api_cpp/doc/markdown/enums/Base/NetworkType.md

@@ -9,6 +9,8 @@ Enumeration NetworkType
 |UNSPECIFIED\_NETWORK\_TYPE|0|Unspecified network type|
 |WIFI|1|Wi-Fi network|
 |WIRED\_ETHERNET|2|Wired Ethernet network|
+|WIRED\_MICROUSB|3|Wired Ethernet over USB network \(RNDIS\)|
+|WIRED\_USB|4|Wired Ethernet over USB network|
 
 **Parent topic:** [Base \(C++\)](../../summary_pages/Base.md)
 

api_cpp/doc/markdown/messages/ActuatorConfig/EncoderDerivativeParameters.md

@@ -5,7 +5,7 @@
 |Member name|Data type|Description|
 |-----------|---------|-----------|
 |max\_window\_width|uint32|Maximum window width|
-|min\_encoder\_tick\_count|uint32|Minimum encoder tick count|
+|min\_angle|float32|Minimum angle for derivative \(degrees\)|
 
  **Member functions** 
 
@@ -14,9 +14,9 @@
 |max\_window\_width\(\)|uint32|void|Returns the current value of max\_window\_width. If the max\_window\_width is not set, returns 0.|
 |set\_max\_window\_width\(\)|void|uint32|Sets the value of max\_window\_width. After calling this, max\_window\_width\(\) will return value.|
 |clear\_max\_window\_width\(\)|void|void|Clears the value of max\_window\_width. After calling this, max\_window\_width\(\) will return 0.|
-|min\_encoder\_tick\_count\(\)|uint32|void|Returns the current value of min\_encoder\_tick\_count. If the min\_encoder\_tick\_count is not set, returns 0.|
-|set\_min\_encoder\_tick\_count\(\)|void|uint32|Sets the value of min\_encoder\_tick\_count. After calling this, min\_encoder\_tick\_count\(\) will return value.|
-|clear\_min\_encoder\_tick\_count\(\)|void|void|Clears the value of min\_encoder\_tick\_count. After calling this, min\_encoder\_tick\_count\(\) will return 0.|
+|min\_angle\(\)|float32|void|Returns the current value of min\_angle. If the min\_angle is not set, returns 0.|
+|set\_min\_angle\(\)|void|float32|Sets the value of min\_angle. After calling this, min\_angle\(\) will return value.|
+|clear\_min\_angle\(\)|void|void|Clears the value of min\_angle. After calling this, min\_angle\(\) will return 0.|
 
 **Parent topic:** [ActuatorConfig \(C++\)](../../summary_pages/ActuatorConfig.md)
 

api_cpp/doc/markdown/summary_pages/Base.md

@@ -234,8 +234,13 @@ Base service. Broadly useful service. Provides functions for configuring a range
 |ReadAllProtectionZones|[ProtectionZoneList](../messages/Base/ProtectionZoneList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves a list of all protection zones|
 |CreateMapping|[MappingHandle](../messages/Base/MappingHandle.md#)|[Mapping](../messages/Base/Mapping.md#)|Creates a new mapping|
 |ReadMapping|[Mapping](../messages/Base/Mapping.md#)|[MappingHandle](../messages/Base/MappingHandle.md#)|Retrieves an existing mapping|
+|UpdateMapping|[Empty](../messages/Common/Empty.md#)|[Mapping](../messages/Base/Mapping.md#)|Updates an existing mapping|
+|DeleteMapping|[Empty](../messages/Common/Empty.md#)|[MappingHandle](../messages/Base/MappingHandle.md#)|Deletes an existing mapping|
 |ReadAllMappings|[MappingList](../messages/Base/MappingList.md#)|[Empty](../messages/Common/Empty.md#)|Retrieves a list of all mappings|
 |CreateMap|[MapHandle](../messages/Base/MapHandle.md#)|[Map](../messages/Base/Map.md#)|Creates a new map|
+|ReadMap|[Map](../messages/Base/Map.md#)|[MapHandle](../messages/Base/MapHandle.md#)|Retrieves an existing map|
+|UpdateMap|[Empty](../messages/Common/Empty.md#)|[Map](../messages/Base/Map.md#)|Updates an existing map|
+|DeleteMap|[Empty](../messages/Common/Empty.md#)|[MapHandle](../messages/Base/MapHandle.md#)|Deletes an existing map|
 |ReadAllMaps|[MapList](../messages/Base/MapList.md#)|[MappingHandle](../messages/Base/MappingHandle.md#)|Retrieves a list of all maps associated to the specified mapping|
 |ActivateMap|[Empty](../messages/Common/Empty.md#)|[ActivateMapHandle](../messages/Base/ActivateMapHandle.md#)|Activates the specified map within the specified map group and mapping|
 |CreateAction|[ActionHandle](../messages/Base/ActionHandle.md#)|[Action](../messages/Base/Action.md#)|Creates a new action|

api_cpp/examples/100-BaseGen3_overview/02-protection_zones_configuration.cpp → api_cpp/examples/100-Overview/02-protection_zones_configuration.cpp

@@ -16,6 +16,8 @@
 #include <RouterClient.h>
 #include <TransportClientTcp.h>
 
+#include <array>
+
 #define IP_ADDRESS "192.168.1.10"
 #define PORT 10000
 
@@ -24,25 +26,25 @@ namespace k_api = Kinova::Api;
 // Position of the protection zone (in meters)
 const std::array<float,3> PROTECTION_ZONE_POS
 {
-    0.5f, 
-    -0.3f, 
-    0.5f
+    0.75f, 
+    0.00f, 
+    0.40f
 };
 
 // Size of the protection zone (in meters)
 const std::array<float,3> PROTECTION_ZONE_DIMENSIONS
 {
-    0.3f, 
-    0.3f, 
-    0.3f
+    0.05f, 
+    0.30f, 
+    0.40f
 };
 
 /// Theta values of the protection zone movement (in degrees)
 const std::array<float,3> PROTECTION_ZONE_MOVEMENT_THETAS
 {
-    10.0,
     90.0,
-    10.0 
+    00.0,
+    90.0 
 };
 
 // Waiting time during actions
@@ -120,16 +122,41 @@ bool move_to_home_position(k_api::Base::BaseClient* base)
 }
 
 void move_to_protection_zone(k_api::Base::BaseClient* base)
+{
+    auto command = k_api::Base::TwistCommand();
+    command.set_reference_frame(k_api::Common::CARTESIAN_REFERENCE_FRAME_BASE);
+    command.set_duration(0);  // Unlimited time to execute
+
+    std::cout << "Moving towards the protection zone for 4 seconds..." << std::endl;
+
+    auto twist = command.mutable_twist();
+    twist->set_linear_x(0.05f);
+    twist->set_linear_y(0.0f);
+    twist->set_linear_z(0.0f);
+    twist->set_angular_x(0.0f);
+    twist->set_angular_y(0.0f);
+    twist->set_angular_z(0.0f);
+    base->SendTwistCommand(command);
+
+    // Let time for twist to be executed
+    std::this_thread::sleep_for(std::chrono::milliseconds(4000));
+
+    // Make movement stop
+    base->Stop();
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+}
+
+void move_in_front_of_protection_zone(k_api::Base::BaseClient* base)
 {
     auto constrained_pose = k_api::Base::ConstrainedPose();
     auto pose = constrained_pose.mutable_target_pose();
 
-    pose->set_x(PROTECTION_ZONE_POS.at(0));           // x (meters)
+    pose->set_x(PROTECTION_ZONE_POS.at(0) - 0.1f);    // x (meters)
     pose->set_y(PROTECTION_ZONE_POS.at(1));           // y (meters)
     pose->set_z(PROTECTION_ZONE_POS.at(2));           // z (meters)
-    pose->set_theta_x(10.0);    // theta x (degrees)
-    pose->set_theta_y(90.0);    // theta y (degrees)
-    pose->set_theta_z(10.0);    // theta z (degrees)
+    pose->set_theta_x(PROTECTION_ZONE_MOVEMENT_THETAS.at(0)); // theta x (degrees)
+    pose->set_theta_y(PROTECTION_ZONE_MOVEMENT_THETAS.at(1)); // theta y (degrees)
+    pose->set_theta_z(PROTECTION_ZONE_MOVEMENT_THETAS.at(2)); // theta z (degrees)
 
     bool action_finished = false; 
     // Notify of any action topic event
@@ -237,15 +264,24 @@ int main(int argc, char **argv)
 
     // Move without the protection zone
     print_protection_zones(base);
+    std::cout << "Moving in front of protection zone..." << std::endl;
+    move_in_front_of_protection_zone(base);
+    std::cout << "Moving inside disabled protection zone..." << std::endl;
     move_to_protection_zone(base);
+    std::cout << "Going back to home position..." << std::endl;
     move_to_home_position(base);
 
     // Add the protection zone
+    std::cout << "Creating and enabling protection zone..." << std::endl;
     auto protection_zone_handle = create_protection_zone(base);
 
     // Move with the protection zone
     print_protection_zones(base);
+    std::cout << "Moving in front of protection zone..." << std::endl;
+    move_in_front_of_protection_zone(base);
+    std::cout << "Moving inside enabled protection zone..." << std::endl;
     move_to_protection_zone(base);
+    std::cout << "Going back to home position..." << std::endl;
     move_to_home_position(base);
 
     // Delete the protection zone