Dynamixel SDK cpp RAII updates

Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME           = "DynamixelSDK c++"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 4.0.4
+PROJECT_NUMBER         = 4.1.0
 
 # 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

ReleaseNote.md

@@ -1,5 +1,14 @@
 # Dynamixel SDK Release Notes
 
+4.1.0 (2026-04-14)
+------------------
+* Updated the standalone C++ SDK and ROS 2 C++ wrappers to use safer dynamic storage for group and packet buffers
+* Bumped the C++ shared library ABI to SOVERSION 3 due to public C++ class layout changes
+* Added VERSION 4.1.0 and SOVERSION 3 to the ROS 2 shared library target for consistent ABI versioning
+* Changed the C++ uninstall step to remove SDK-owned install paths by name instead of relying on the install manifest
+* Unified package versioning to 4.1.0 across C, C++, Python, and ROS 2 packaging metadata
+* Contributors: Hyungyu Kim
+
 4.0.4 (2026-03-27)
 ------------------
 * Added CMakeLists.txt for unified build system in c, c++

c++/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.10)
 
 # Standalone C++ SDK: configure/build from the c++/ directory (paths below are relative to c++/).
-project(dynamixel_sdk VERSION 4.0.4 LANGUAGES CXX)
+project(dynamixel_sdk VERSION 4.1.0 LANGUAGES CXX)
 
 set(_dxl_pkg "dynamixel_sdk")
 
@@ -73,7 +73,7 @@ target_include_directories(dynamixel_sdk PRIVATE
 
 set_target_properties(dynamixel_sdk PROPERTIES
   VERSION ${PROJECT_VERSION}
-  SOVERSION 2
+  SOVERSION 3
   CXX_STANDARD 17
   CXX_STANDARD_REQUIRED ON
   OUTPUT_NAME "dxl_cpp"
@@ -161,10 +161,21 @@ endif()
 # --------------------------------------------------------
 # 4. Uninstall / Reinstall Targets
 # --------------------------------------------------------
+if(UNIX AND NOT APPLE)
+  set(DXL_UNINSTALL_EASY_SDK 1)
+else()
+  set(DXL_UNINSTALL_EASY_SDK 0)
+endif()
+if(WIN32)
+  set(DXL_UNINSTALL_WIN32 1)
+else()
+  set(DXL_UNINSTALL_WIN32 0)
+endif()
+
 configure_file(
   "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
   "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
-  IMMEDIATE @ONLY
+  @ONLY
 )
 
 if(NOT TARGET uninstall)

c++/build/linux32/Makefile

@@ -10,7 +10,7 @@ DIR_OBJS    = ./.objects
 
 INSTALL_ROOT = /usr/local
 
-MAJ_VERSION = 2
+MAJ_VERSION = 3
 MIN_VERSION = 0
 REV_VERSION = 0
 

c++/build/linux64/Makefile

@@ -10,7 +10,7 @@ DIR_OBJS    = ./.objects
 
 INSTALL_ROOT = /usr/local
 
-MAJ_VERSION = 2
+MAJ_VERSION = 3
 MIN_VERSION = 0
 REV_VERSION = 0
 

c++/build/linux_sbc/Makefile

@@ -10,7 +10,7 @@ DIR_OBJS    = ./.objects
 
 INSTALL_ROOT = /usr/local
 
-MAJ_VERSION = 2
+MAJ_VERSION = 3
 MIN_VERSION = 0
 REV_VERSION = 0
 

c++/build/mac/Makefile

@@ -10,7 +10,7 @@ DIR_OBJS    = ./.objects
 
 INSTALL_ROOT = /usr/local
 
-MAJ_VERSION = 2
+MAJ_VERSION = 3
 MIN_VERSION = 0
 REV_VERSION = 0
 

c++/cmake/cmake_uninstall.cmake.in

@@ -1,53 +1,56 @@
-# Uninstall files listed in install_manifest.txt (created by cmake --install).
-# Configured from cmake_uninstall.cmake.in via configure_file(... IMMEDIATE @ONLY).
-
-if(NOT EXISTS "@CMAKE_BINARY_DIR@/install_manifest.txt")
-  message(FATAL_ERROR
-    "Cannot find @CMAKE_BINARY_DIR@/install_manifest.txt\n"
-    "Run: cmake --install <build-dir> (or make install) at least once so the manifest exists."
-  )
-endif()
+# Name-based uninstall for Dynamixel SDK (C++), under CMAKE_INSTALL_PREFIX.
+# Removes the same layout as install(): headers, libdxl_cpp.*, CMake package config,
+# share/dynamixel_sdk (incl. control_table), and dynamixel_easy_sdk headers on Linux.
 
-file(STRINGS "@CMAKE_BINARY_DIR@/install_manifest.txt" _dxl_installed_files)
+set(_dxl_prefix "@CMAKE_INSTALL_PREFIX@")
+string(REGEX REPLACE "/+$" "" _dxl_prefix "${_dxl_prefix}")
 
-foreach(_dxl_file IN LISTS _dxl_installed_files)
-  string(STRIP "${_dxl_file}" _dxl_file)
-  if(_dxl_file STREQUAL "")
-    continue()
-  endif()
-  message(STATUS "Uninstalling: ${_dxl_file}")
-  # EXISTS is false for broken symlinks, so also check IS_SYMLINK.
-  if(EXISTS "${_dxl_file}" OR IS_SYMLINK "${_dxl_file}")
-    file(REMOVE "${_dxl_file}")
-  endif()
-endforeach()
-
-# Remove installed directories (manifest only removes files).
-# Derive prefix from install_manifest.txt paths so --prefix overrides work.
-set(_dxl_prefix "")
-foreach(_dxl_file IN LISTS _dxl_installed_files)
-  string(STRIP "${_dxl_file}" _dxl_file_stripped)
-  if(_dxl_file_stripped STREQUAL "")
-    continue()
-  endif()
+set(_dxl_inc "@CMAKE_INSTALL_INCLUDEDIR@")
+set(_dxl_lib "@CMAKE_INSTALL_LIBDIR@")
+set(_dxl_share "@CMAKE_INSTALL_DATAROOTDIR@")
+set(_dxl_bin "@CMAKE_INSTALL_BINDIR@")
 
-  # Example:
-  #   ${prefix}/include/dynamixel_sdk/dynamixel_sdk.h
-  if(_dxl_file_stripped MATCHES "^(.*)/@CMAKE_INSTALL_INCLUDEDIR@/dynamixel_sdk/.*$")
-    set(_dxl_prefix "${CMAKE_MATCH_1}")
-    break()
-  endif()
-endforeach()
+message(STATUS "Dynamixel SDK (C++) uninstall from prefix: ${_dxl_prefix}")
 
-if(NOT _dxl_prefix STREQUAL "")
-  file(REMOVE_RECURSE "${_dxl_prefix}/@CMAKE_INSTALL_INCLUDEDIR@/dynamixel_sdk")
-  if(NOT APPLE)
-    file(REMOVE_RECURSE "${_dxl_prefix}/@CMAKE_INSTALL_INCLUDEDIR@/dynamixel_easy_sdk")
+macro(_dxl_remove_tree _path)
+  if(EXISTS "${_path}")
+    file(REMOVE_RECURSE "${_path}")
+    message(STATUS "Removed ${_path}")
   endif()
+endmacro()
 
-  if(NOT APPLE)
-    file(REMOVE_RECURSE "${_dxl_prefix}/@CMAKE_INSTALL_DATAROOTDIR@/dynamixel_sdk/control_table")
-  endif()
+# Headers: dynamixel_sdk (all platforms)
+_dxl_remove_tree("${_dxl_prefix}/${_dxl_inc}/dynamixel_sdk")
+
+# dynamixel_easy_sdk: same condition as install() (Linux, not Apple)
+if(@DXL_UNINSTALL_EASY_SDK@)
+  _dxl_remove_tree("${_dxl_prefix}/${_dxl_inc}/dynamixel_easy_sdk")
+endif()
 
-  file(REMOVE_RECURSE "${_dxl_prefix}/@CMAKE_INSTALL_LIBDIR@/cmake/dynamixel_sdk")
+# Shared library / import lib
+if(@DXL_UNINSTALL_WIN32@)
+  file(GLOB _dxl_dlls LIST_DIRECTORIES false "${_dxl_prefix}/${_dxl_bin}/dxl_cpp.dll")
+  foreach(_f IN LISTS _dxl_dlls)
+    message(STATUS "Uninstalling: ${_f}")
+    file(REMOVE "${_f}")
+  endforeach()
+  foreach(_name "dxl_cpp.lib" "dxl_cpp.exp")
+    set(_f "${_dxl_prefix}/${_dxl_lib}/${_name}")
+    if(EXISTS "${_f}")
+      message(STATUS "Uninstalling: ${_f}")
+      file(REMOVE "${_f}")
+    endif()
+  endforeach()
+else()
+  file(GLOB _dxl_libs LIST_DIRECTORIES false "${_dxl_prefix}/${_dxl_lib}/libdxl_cpp.*")
+  foreach(_f IN LISTS _dxl_libs)
+    message(STATUS "Uninstalling: ${_f}")
+    file(REMOVE "${_f}")
+  endforeach()
 endif()
+
+# CMake package files
+_dxl_remove_tree("${_dxl_prefix}/${_dxl_lib}/cmake/dynamixel_sdk")
+
+# share (e.g. control_table)
+_dxl_remove_tree("${_dxl_prefix}/${_dxl_share}/dynamixel_sdk")

c++/include/dynamixel_sdk/group_bulk_read.h

@@ -38,7 +38,7 @@ class WINDECLSPEC GroupBulkRead : public GroupHandler
 protected:
     std::map<uint8_t, uint16_t> address_list_;  // <id, start_address>
     std::map<uint8_t, uint16_t> length_list_;   // <id, data_length>
-    std::map<uint8_t, uint8_t *> error_list_;   // <id, error>
+    std::map<uint8_t, std::vector<uint8_t>> error_list_;   // <id, error>
 
     bool last_result_;
 
@@ -135,7 +135,7 @@ class WINDECLSPEC GroupBulkRead : public GroupHandler
   /// @error error of Dynamixel
   /// @return true
   /// @return   when Dynamixel returned specific error byte
-  /// @return or false 
+  /// @return or false
   ////////////////////////////////////////////////////////////////////////////////
   bool        getError    (uint8_t id, uint8_t* error);
 };

c++/include/dynamixel_sdk/group_fast_bulk_read.h

@@ -40,6 +40,7 @@ class WINDECLSPEC GroupFastBulkRead : public GroupBulkRead
 
 private:
     void makeParam();
+    std::vector<uint8_t> rxpacket_;
 };
 
 }

c++/include/dynamixel_sdk/group_fast_sync_read.h

@@ -37,6 +37,9 @@ class WINDECLSPEC GroupFastSyncRead : public GroupSyncRead
     int txPacket();
     int rxPacket();
     int txRxPacket();
+
+private:
+    std::vector<uint8_t> rxpacket_;
 };
 
 }

c++/include/dynamixel_sdk/group_handler.h

@@ -44,11 +44,11 @@ class WINDECLSPEC GroupHandler
     PacketHandler *ph_;
 
     std::vector<uint8_t> id_list_;
-    std::map<uint8_t, uint8_t *> data_list_;     // <id, data>
+    std::map<uint8_t, std::vector<uint8_t>> data_list_;     // <id, data>
 
     bool is_param_changed_;
 
-    uint8_t *param_;
+    std::vector<uint8_t> param_;
 };
 
 }

c++/include/dynamixel_sdk/group_sync_read.h

@@ -36,7 +36,7 @@ namespace dynamixel
 class WINDECLSPEC GroupSyncRead : public GroupHandler
 {
 protected:
-    std::map<uint8_t, uint8_t *> error_list_; // <id, error>
+    std::map<uint8_t, std::vector<uint8_t>> error_list_; // <id, error>
 
     bool last_result_;
 
@@ -140,7 +140,7 @@ class WINDECLSPEC GroupSyncRead : public GroupHandler
   /// @error error of Dynamixel
   /// @return true
   /// @return   when Dynamixel returned specific error byte
-  /// @return or false 
+  /// @return or false
   ////////////////////////////////////////////////////////////////////////////////
   bool        getError    (uint8_t id, uint8_t* error);
 };

c++/include/dynamixel_sdk/packet_handler.h

@@ -39,12 +39,12 @@
 #define MAX_ID              0xFC    // 252
 
 /* Macro for Control Table Value */
-#define DXL_MAKEWORD(a, b)  ((uint16_t)(((uint8_t)(((uint64_t)(a)) & 0xff)) | ((uint16_t)((uint8_t)(((uint64_t)(b)) & 0xff))) << 8))
-#define DXL_MAKEDWORD(a, b) ((uint32_t)(((uint16_t)(((uint64_t)(a)) & 0xffff)) | ((uint32_t)((uint16_t)(((uint64_t)(b)) & 0xffff))) << 16))
-#define DXL_LOWORD(l)       ((uint16_t)(((uint64_t)(l)) & 0xffff))
-#define DXL_HIWORD(l)       ((uint16_t)((((uint64_t)(l)) >> 16) & 0xffff))
-#define DXL_LOBYTE(w)       ((uint8_t)(((uint64_t)(w)) & 0xff))
-#define DXL_HIBYTE(w)       ((uint8_t)((((uint64_t)(w)) >> 8) & 0xff))
+#define DXL_MAKEWORD(a, b)  (static_cast<uint16_t>((static_cast<uint8_t>(static_cast<uint64_t>(a) & 0xff)) | (static_cast<uint16_t>(static_cast<uint8_t>(static_cast<uint64_t>(b) & 0xff))) << 8))
+#define DXL_MAKEDWORD(a, b) (static_cast<uint32_t>((static_cast<uint16_t>(static_cast<uint64_t>(a) & 0xffff)) | (static_cast<uint32_t>(static_cast<uint16_t>(static_cast<uint64_t>(b) & 0xffff))) << 16))
+#define DXL_LOWORD(l)       (static_cast<uint16_t>(static_cast<uint64_t>(l) & 0xffff))
+#define DXL_HIWORD(l)       (static_cast<uint16_t>((static_cast<uint64_t>(l) >> 16) & 0xffff))
+#define DXL_LOBYTE(w)       (static_cast<uint8_t>(static_cast<uint64_t>(w) & 0xff))
+#define DXL_HIBYTE(w)       (static_cast<uint8_t>((static_cast<uint64_t>(w) >> 8) & 0xff))
 
 /* Instruction for DXL Protocol */
 #define INST_PING               1

c++/library.properties

@@ -1,5 +1,5 @@
 name=DynamixelSDK
-version=4.0.4
+version=4.1.0
 author=ROBOTIS
 maintainer=ROBOTIS
 sentence=DynamixelSDK for Arduino