Release/v1.2.1 (#9)

Release note:
https://github.com/flexivrobotics/flexiv_tdk/releases/tag/v1.2.1

.github/workflows/cmake.yml

@@ -13,64 +13,17 @@ env:
 
 jobs:
   build-ubuntu-22:
-    # The CMake configure and build commands are platform agnostic and should work equally
-    # well on Windows or Mac.  You can convert this to a matrix build if you need
-    # cross-platform coverage.
-    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    # GitHub-hosted Ubuntu 22.04 runner
     runs-on: ubuntu-22.04
-
+    # Use shared steps
     steps:
-      - uses: actions/checkout@v2
-
-      - name: Build and install dependencies
-        # Build and install all dependencies to flexiv_tdk installation directory.
-        run: |
-          cd ${{github.workspace}}
-          cd thirdparty
-          bash build_and_install_dependencies.sh ~/tdk_install
-
-      - name: Build and install library
-        # Configure CMake, then build and install the flexiv_tdk INTERFACE library to TDK installation directory.
-        run: |
-          cd ${{github.workspace}}
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
-          make install
-
-      - name: Build examples
-        # Find and link to the flexiv_tdk INTERFACE library, then build all examples.
-        run: |
-          cd ${{github.workspace}}/example
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
-          make -j$(nproc)
+      - uses: actions/checkout@v3
+      - uses: ./.github/workflows/shared_steps
 
   build-ubuntu-20:
-    # Use GitHub-hosted Ubuntu 20.04 runner
+    # GitHub-hosted Ubuntu 20.04 runner
     runs-on: ubuntu-20.04
-
+    # Use shared steps
     steps:
-      - uses: actions/checkout@v2
-
-      - name: Build and install dependencies
-        # Build and install all dependencies to TDK installation directory.
-        run: |
-          cd ${{github.workspace}}
-          cd thirdparty
-          bash build_and_install_dependencies.sh ~/tdk_install $(nproc)
-
-      - name: Build and install library
-        # Configure CMake, then build and install the flexiv_tdk INTERFACE library to TDK installation directory.
-        run: |
-          cd ${{github.workspace}}
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
-          make install
-
-      - name: Build examples
-        # Find and link to the flexiv_tdk INTERFACE library, then build all examples.
-        run: |
-          cd ${{github.workspace}}/example
-          mkdir -p build && cd build
-          cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
-          make -j$(nproc)
+      - uses: actions/checkout@v3
+      - uses: ./.github/workflows/shared_steps

.github/workflows/shared_steps/action.yml

@@ -0,0 +1,31 @@
+name: "Shared Build Steps"
+runs:
+  using: "composite"
+  # Note: working directory will be reset to the repo root for each new step
+  steps:
+    # Build and install all dependencies to TDK installation directory.
+    - name: Build and install dependencies
+      shell: bash
+      run: |
+        pwd
+        cd thirdparty
+        bash build_and_install_dependencies.sh ~/tdk_install 4
+
+    # Configure CMake, then build and install flexiv_tdk library to TDK installation directory.
+    - name: Build and install library
+      shell: bash
+      run: |
+        pwd
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
+        cmake --build . --target install --config Release
+
+    # Find and link to flexiv_tdk library, then build all example programs.
+    - name: Build examples
+      shell: bash
+      run: |
+        pwd
+        cd example
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
+        cmake --build . --config Release -j 4

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.16.3)
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_tdk VERSION 1.2.0)
+project(flexiv_tdk VERSION 1.2.1)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)

doc/Doxyfile.in

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Flexiv TDK APIs"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.2
+PROJECT_NUMBER         = 1.2.1
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

include/flexiv/tdk/cartesian_teleop_lan.hpp

@@ -25,6 +25,10 @@ class CartesianTeleopLAN
      * in the vector represents a pair of bilaterally teleoperated robots. For example, provide 2
      * pairs of robot serial numbers to start a dual-arm teleoperation that involves 2 pairs of
      * robots. The accepted formats are: "Rizon 4s-123456" and "Rizon4s-123456".
+     * @param[in] network_interface_whitelist Limit the network interface(s) that can be used to try
+     * to establish connection with the specified robot. The whitelisted network interface is
+     * defined by its associated IPv4 address. For example, {"10.42.0.1", "192.168.2.102"}. If left
+     * empty, all available network interfaces will be tried when searching for the specified robot.
      * @throw std::invalid_argument if the format of any element in [robot_pairs_sn] is invalid.
      * @throw std::runtime_error if error occurred during construction.
      * @throw std::logic_error if one of the connected robots does not have a valid TDK license; or
@@ -33,7 +37,8 @@ class CartesianTeleopLAN
      * @warning This constructor blocks until the initialization sequence is successfully finished
      * and connection with all robots is established.
      */
-    CartesianTeleopLAN(const std::vector<std::pair<std::string, std::string>>& robot_pairs_sn);
+    CartesianTeleopLAN(const std::vector<std::pair<std::string, std::string>>& robot_pairs_sn,
+        const std::vector<std::string>& network_interface_whitelist = {});
     virtual ~CartesianTeleopLAN();
 
     /**

include/flexiv/tdk/joint_teleop_lan.hpp

@@ -25,6 +25,10 @@ class JointTeleopLAN
      * in the vector represents a pair of bilaterally teleoperated robots. For example, provide 2
      * pairs of robot serial numbers to start a dual-arm teleoperation that involves 2 pairs of
      * robots. The accepted formats are: "Rizon 4s-123456" and "Rizon4s-123456".
+     * @param[in] network_interface_whitelist Limit the network interface(s) that can be used to try
+     * to establish connection with the specified robot. The whitelisted network interface is
+     * defined by its associated IPv4 address. For example, {"10.42.0.1", "192.168.2.102"}. If left
+     * empty, all available network interfaces will be tried when searching for the specified robot.
      * @throw std::invalid_argument if the format of any element in [robot_pairs_sn] is invalid.
      * @throw std::runtime_error if error occurred during construction.
      * @throw std::logic_error if one of the connected robots does not have a valid TDK license; or
@@ -33,7 +37,8 @@ class JointTeleopLAN
      * @warning This constructor blocks until the initialization sequence is successfully finished
      * and connection with all robots is established.
      */
-    JointTeleopLAN(const std::vector<std::pair<std::string, std::string>>& robot_pairs_sn);
+    JointTeleopLAN(const std::vector<std::pair<std::string, std::string>>& robot_pairs_sn,
+        const std::vector<std::string>& network_interface_whitelist = {});
     virtual ~JointTeleopLAN();
 
     /**

include/flexiv/tdk/joint_teleop_wan.hpp

@@ -54,6 +54,14 @@ class JointTeleopWAN
      * teleoperation need to set the same address.
      * @param[in] listening_port Number of the port configured with TCP port forwarding. Both sides
      * of the teleoperation need to set the same listening port.
+     * @param[in] lan_interface_whitelist Limit the network interface(s) that can be used to try
+     * to establish connection with the local robot. The whitelisted network interface is
+     * defined by its associated IPv4 address. For example, {"10.42.0.1", "192.168.2.102"}. If left
+     * empty, all available network interfaces will be tried when searching for the local robot.
+     * @param[in] wan_interface_whitelist Limit the network interface(s) that can be used to try
+     * to establish connection with the remote robot. The whitelisted network interface is
+     * defined by its associated IPv4 address. For example, {"10.42.0.1", "192.168.2.102"}. If left
+     * empty, all available network interfaces will be tried when searching for the remote robot.
      * @throw std::invalid_argument if the format of [robot_sn] is invalid.
      * @throw std::runtime_error if error occurred during construction.
      * @throw std::logic_error if the local robot does not have a valid TDK license; or this TDK
@@ -64,7 +72,9 @@ class JointTeleopWAN
      * to be established.
      */
     JointTeleopWAN(const std::string& robot_sn, bool is_tcp_server,
-        const std::string& public_ipv4_address, unsigned int listening_port);
+        const std::string& public_ipv4_address, unsigned int listening_port,
+        const std::vector<std::string>& lan_interface_whitelist = {},
+        const std::vector<std::string>& wan_interface_whitelist = {});
     virtual ~JointTeleopWAN();
 
     /**