🚀 YARP 3.3.0 Released

[drdanz]

YARP 3.3.0 was released today and is now available for download at: https://github.com/robotology/yarp/releases/.

A (partial) list of bug fixed and issues resolved in this release can be found
here.

Important Changes

Dependencies

• CMake 3.12 or later is now required.
• Optional dependency on YCM now requires version 0.11.0 or later.
• C++14 is now required.
• OpenCV 4 is now explicitly unsupported.
• Visual Studio 2015 is no longer supported.

Build System

• CMake config files are now installed in lib/cmake also on windows.
• The OS component is deprecated in favour of os (lowercase).

Libraries

YARP_os

• The YARP_OS was renamed YARP_os. Using the old name is still supported,
  but deprecated.
• yAssert is now a proper assertion macro (removed when NDEBUG is defined,
  i.e. `Release builds). If the expression tested has side-effects, program
  behavior will be different depending on whether NDEBUG is defined. This may
  create Heisenbugs which go away when debugging is turned on.
• All yarp::os::Mutex related classes and methods are now deprecated in favour
  of std::mutex:
  • Classes:
    • yarp::os::Mutex
    • yarp::os::RecursiveMutex
    • yarp::os::AbstractLockGuard
    • yarp::os::LockGuard
    • yarp::os::RecursiveLockGuard
  • Methods:
    • yarp::os::Contactable::setCallbackLock(yarp::os::Mutex*)
    • yarp::os::AbstractContactable::setCallbackLock(yarp::os::Mutex*)
    • yarp::os::Port::setCallbackLock(yarp::os::Mutex*)
    • yarp::os::Buffered::setCallbackLock(yarp::os::Mutex*)
    • yarp::os::Timer::Timer(..., yarp::os::Mutex*)
• yarp::os::Network::getDirectorySeparator and
  yarp::os::Network::getPathSeparator are now deprecated in favour of
  yarp::conf::filesystem::preferred_separator and
  yarp::conf::filesystem::path_separatorrespectively.
• yarp::os::Runnable is now deprecated.
• yarp::os::RateThreadWrapper is now deprecated.
• The yarp::os::Property constructor using 'hash_size' was deprecated (it was
  already unused since the internal structure was ported to use std::map).
• yarp::os::MessageStack constructor now accepts the max number of thread as
  size_t instead of int.
• yarp::os::MessageStack constructor is now explicit.
• yarp::os::MessageStack copy and move constructors and operators are now
  explicitly deleted.

YARP_dev

• All devices are now plugins. They are enabled by default, but can be disabled
  if required.
• The <yarp/dev/GenericSensorInterfaces.h> include file is deprecated in
  favour of <yarp/dev/IGenericSensor.h>.
• The <yarp/dev/PreciselyTimed.h> include file is deprecated in favour of
  <yarp/dev/IPreciselyTimed.h>.
• The <yarp/dev/SerialInterfaces.h> include file is deprecated in favour of
  <yarp/dev/ISerialDevice.h>.
• The <yarp/dev/Wrapper.h> include file is deprecated in favour of
  <yarp/dev/IWrapper.h> and <yarp/dev/IMultipleWrapper.h>.
• yarp::dev::DataSource and yarp::dev::DataSource2 are now deprecated.
• yarp::dev::DataWriter and yarp::dev::DataWriter2 are now deprecated

New Features

Build System

• The yarp_idl_to_dir command now accepts the PLACEMENT option:
  • MERGED: headers and sources in <OUTPUT_DIR>/<namespace>
  • SEPARATE: headers in <OUTPUT_DIR>/include/<namespace> sources in <OUTPUT_DIR>/src/<namespace>
  • SEPARATE_EVEN: alias for SEPARATE
  • SEPARATE_ODD: headers in <OUTPUT_DIR>/include/<namespace> sources in <OUTPUT_DIR>/src
    For backwards compatibility the default value is SEPARATE_ODD.
• After calling the yarp_add_idl method, the YARP_ADD_IDL_INCLUDE_DIR
  variable contains the include directory for using the header files

Libraries

YARP_conf

• Added yarp::conf::filesystem utilities (Make getDirectorySeparator aligned to std::filesystem::path::preferred_separator yarp#1855).

YARP_os

• Cleanup of the signature of the following methods of yarp::os::Network:
  • static bool connect(const std::string& src, const std::string& dest, const ContactStyle& style)
  • static bool connect(const std::string& src, const std::string& dest, const std::string& carrier = "", bool quiet = true)
  • static bool connect(const char* src, const char* dest, const char* carrier, bool quiet = true)
  • static bool disconnect(const std::string& src, const std::string& dest, bool quiet)
  • static bool disconnect(const std::string& src, const std::string& dest, const ContactStyle& style)
  • static bool disconnect(const std::string& src, const std::string& dest, const std::string& carrier = "", bool quiet = true)
  • static bool disconnect(const char* src, const char* dest, const char* carrier, bool quiet = true)
  • static bool isConnected(const std::string& src, const std::string& dest, bool quiet)
  • static bool isConnected(const std::string& src, const std::string& dest, const ContactStyle& style)
  • static bool isConnected(const std::string& src, const std::string& dest, const std::string& carrier = "", bool quiet = true)
  • static bool isConnected(const char* src, const char* dest, const char* carrier, bool quiet = true)
• Added move constructor and assignment operator to yarp::os::Searchable.
• Added move constructor and assignment operator to yarp::os::Bottle.
• Added move constructor and assignment operator to yarp::os::Property.
• Added constructors that accept std::mutex instead of yarp::os::Mutex to
  yarp::os::Timer.
• The Log colors can now be enabled also on windows when supported
  (Enable colored logger output on Windows 10 yarp#2076)
• Added setCallbackLock overrides to yarp::os::Contactable,
  yarp::os::AbstractContactable, yarp::os::Port, yarp::os::BufferedPort
  to pass a std::mutex instead of a yarp::os::Mutex.

YARP_dev

• Added new interface yarp::dev::IFrameTranformClientControl
• yarp::dev::TransformClient implements the new interface
  yarp::dev::IFrameTranformClientControl.
• The rpc port of the yarp::dev::TransformClient allows to reconnect to the
  server.
• yarp::dev::TransformServer allows the use of wildcard to erase all the
  transforms between a specified source and * or between * and a specified
  destination.
• The rpc port of the yarp::dev::TransformServer allows to delete a given
  transform.

YARP_run

• The ENABLE_YARPRUN_LOG fixed and deprecated in favour of
  YARP_ENABLE_YARPRUN_LOG.

Tools

yarpidl_trift

• yarpidl_thrift now places the source files according to the "separate" layout.

yarpdatadumper

• Fixed creating directories whose name contains not allowed characters (e.g.
  :, *, ...).
• It's now possible to dump PNG images.
• The timestamp info are now provided within info.log.

GUIs

yarpdataplayer

• info.log files containing timestamp info are now handled.

devices

multipleanalogsensorsclient

• Added the option externalConnection(false by default). This option disables
  the automatic connect to the rpc:o and measures:o of the respective
  multipleanalogsensorsserver. This implies that with this configuration the
  metadata is missing, then the device lacks of some informations such as the
  sensor name, the frame name etc. On the other hand it allows to
  connect/disconnect the client to the port measures:o of the server after
  being opened, and to work also when the rpc:o port is missing (e.g with the
  yarpdataplayer).

realsense2

• Deprecated the needAlignment parameter in favour of alignmentFrame.
  The default behaviour has been maintaned, if not specified alignmentFrame
  is RGB. The allowed values are RGB, Depth and None.

mjpeg

• The MJPEG_AUTOCOMPRESS CMake option is deprecated in favour of
  YARP_MJPEG_AUTOCOMPRESS

mpi

• The MPI_DEBUG_MSG CMake option is deprecated in favour of
  YARP_MPI_DEBUG_MSG.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.2.0..v3.3.0):

   332	Daniele E. Domenichelli <daniele.domenichelli@iit.it>
    26	Nicolò Genesio <nicolo.genesio@iit.it>
     7	Ugo Pattacini <ugo.pattacini@iit.it>
     5	Vadim Tikhanoff <vadim.tikhanoff@iit.it>
     4	Marco Randazzo <marco.randazzo@iit.it>
     2	Bartek Łukawski <bwmn.peter@gmail.com>
     1	Carlotta Sartore <carlotta.sartore@iit.it>
     1	Giovanni Saponaro <gsaponaro@isr.tecnico.ulisboa.pt>
     1	Giulio Romualdi <giulio.romualdi@gmail.com>
     1	Nicola Piga <nicolapiga@gmail.com>
     1	Silvio Traversaro <silvio.traversaro@iit.it>
     1	Valentina Gaggero <valentina.gaggero@iit.it>