YARP 3.0.0 Released

[mbrunettini]

YARP 3.0.0 was released today and is now available for download at: https://github.com/robotology/yarp/releases/. This release is a major release and introduces several new features and important breaking changes since YARP 2.3.72.

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

Important Changes

• All YARP libraries can now be modified and distributed under the terms of the
  BSD-3-Clause license. See the accompanying LICENSE file for details.
• Visual Studio 2013 is no longer supported.
• CMake 3.5 or later is now required.
• Optional dependency on YCM now requires version 0.8.0 or later.
• All the functionalities deprecated before YARP 2.3.72 were removed.

Build System

• The CREATE_DEVICE_LIBRARY_MODULES option was renamed
  YARP_COMPILE_DEVICE_PLUGINS and is now enabled by default.
• The CREATE_OPTIONAL_CARRIERS option was renamed
  YARP_COMPILE_CARRIER_PLUGINS and is now enabled by default.
• YARP now accepts the keyboard COMPONENTS in find_package(YARP) calls.
  The YARP_LIBRARIES variable contains only the libraries corresponding to the
  components requested in the last find_package(YARP) call.
  If no components are specified, the OS, sig, dev and math (only when
  enabled) components are searched.
• The YARP_INCLUDE_DIRS variable is deprecated, as it is handled automatically
  by CMake targets.
• The YARP_MATH_LIBRARY is deprecated.
  You can check for YARP_math using find_package(YARP COMPONENTS math)

Libraries

YARP_conf

• The YARP_WRAP_STL_STRING and YARP_WRAP_STL_STRING_INLINE are now
  always undefined, and they are now considered deprecated.

YARP_OS

• The shmem carrier is no longer builtin inside YARP_OS and it is now a
  plugin.
• The Run class was moved to the new library YARP_run
• yarp::os::setprogname() is now deprecated.
• yarp::os::getprogname() is now deprecated.
• yarp::os::SystemInfo::getProcessInfo() now returns info for current process
  when called without arguments.
• The methods yarp::os::Mutex::tryLock() and
  yarp::os::RecursiveMutex::tryLock() were deprecated in favour of
  try_lock().
• ConstString is now deprecated in favour of std::string.
• Replaced YARP_INT{8,16,32,64} with std::int{8,16,32,64}_t from cstdint
• Use defines from cinttypes instead of YARP_INT64_FMT
• Add yarp::conf::float{32,64,128}_t (128 only if supported)
• Add yarp::conf::ssize_t
• Deprecate YARP_INT{8,16,32,64} in favour of std::int{8,16,32,64}_t
• Deprecate YARP_FLOAT{32,64} in favour of yarp::conf::float{32,64}_t
• Deprecate YARP_INT64_FMT in favour of PRId64
• Deprecate YARP_CONF_SSIZE_T in favour of yarp::conf::ssize_t
• Add the following methods:
  • yarp::os::Bottle::addInt{8,16,32,64}()
  • yarp::os::Bottle::addFloat{32,64}()
  • yarp::os::Value::{is,as,make}Int{8,16,32,64}()
  • yarp::os::Value::{is,as,make}Float{32,64}()
  • yarp::os::ConnectionWriter::appendInt{8,16,32,64}()
  • yarp::os::ConnectionWriter::appendFloat{32,64}()
  • yarp::os::ConnectionReader::expectInt{8,16,32,64}()
  • yarp::os::ConnectionReader::expectFloat{32,64}()
  • BOTTLE_TAG_INT{8,16,32,64} (BOTTLE_TAG_INT32 = BOTTLE_TAG_INT)
  • BOTTLE_TAG_FLOAT{32,64} (BOTTLE_TAG_FLOAT64 = BOTTLE_TAG_DOUBLE)
• The following methods are not deprecated due to the large codebase where they
  are used, but their usage in new code is discouraged, and it is forbidden
  inside YARP.
  Anyway, all these methods are now calling the corresponding Int32 and Float64
  version, but are not architecture safe, since they still accept int and
  double.
  • yarp::os::Bottle::addInt()
  • yarp::os::Bottle::addDouble()
  • yarp::os::Value::isInt()
  • yarp::os::Value::isDouble()
  • yarp::os::Value::asInt()
  • yarp::os::Value::asDouble()
  • yarp::os::Value::makeInt()
  • yarp::os::Value::makeDouble()
  • yarp::os::ConnectionWriter::appendInt()
  • yarp::os::ConnectionWriter::appendDouble()
  • yarp::os::ConnectionReader::expectInt()
  • yarp::os::ConnectionReader::expectDouble()
  • BOTTLE_TAG_INT
  • BOTTLE_TAG_DOUBLE
• Value constructors are now explicit.
• Thread setOptions() and setDefaultStackSize() are now deprecated and
  no longer doing anything.
• The YARP_STACK_SIZE environment variable is no longer used.
• Portable::getType() became Portable::getType() const(#1617).
• PortWriter::getWriteType() became PortWriter::getWriteType() const(#1621).
• PortReader::getReadType() became PortReader::getReadType() const(#1616).
• Companion has been moved to a dedicated library (#1509). As consequences:
  • Following functions has been moved from Companion to NetworkBase:
    disconnectInput, poll, sendMessage, wait (wait() has been splitted
    into two new functions waitConnection() and waitPort().
  • Companion::exists() has been removed unifying its code with
    NetworkBase::exists().
  • readString() function has been deprecated in NetworkBase.
• RateThread has been deprecated in favour of the new class PeriodicThread.
  Note that RateThread used the period in msec(int), PeriodicThread
  requires the period in sec(double), so remember to consider a x1000 factor
  when migrate the code.
• Several methods in public interfaces have a slightly different signature (see
  #1738 for details).
• It is now possible to write a const Portable on a Port.
• const Bytes and const ManagedBytes can no longer return non-const pointers
  to the underlying data.

YARP_dev

• The serial device is no longer a plugin, but it is automatically built with
  YARP_dev.
• The following devices are no longer built with YARP_dev and are now plugins:
  • ServerSoundGrabber
  • BatteryClient
  • BatteryWrapper
  • FrameTransformClient
  • FrameTransformServer
  • Localization2DClient
  • Map2DClient
  • Map2DServer
  • Navigation2DClient
  • Rangefinder2DClient
  • Rangefinder2DWrapper
• The following headers were removed:
  • /yarp/dev/DeviceGroup.h
  • /yarp/dev/DevicePipe.h
  • /yarp/dev/IKinectDeviceDriver.h
  • /yarp/dev/IOpenNI2DeviceDriver.h
  • /yarp/dev/RemoteFrameGrabber.h
  • /yarp/dev/ServerFrameGrabber.h
  • /yarp/dev/ServerSerial.h
  • /yarp/dev/ServerSoundGrabber.h
  • /yarp/dev/TestMotor.h
  • /yarp/dev/RemoteFrameGrabberDC1394.h
• A class of interfaces to wrap multiple analog sensors is now available in:
  • /yarp/dev/MultipleAnalogSensorsInterfaces.h
• The devices multipleanalogsensorsserver, multipleanalogsensorsclient and
  multipleanalogsensorsremapper are available for exposing and accessing the
  multiple analog sensors over a network, and for combining multiple devices in
  a single device (remapper).
• Major changes to IPidControlImpl.cpp to allow conversion of PID gains from
  metric to machine units.
• Major changes to TorqueControlImpl to allow conversion of bemf, ktau
  parameters from metric to machine units.
• Major changes to ControlBoardHelper classes, implementation is now contained
  in a separate .cpp file. Removed inline functions.
• Added file PidEnums.h
• Added missing method setNominalCurrentRaw() to IAmplifierControl
  interface.
• Removed all control board interfaces methods e.g. setTorquePid(),
  setPositionMode() etc, marked as deprecated since 2.3.70
• In ControlBoardWrapper functions for all joints invoke the equivalent function
  for all joints of motion control device. In the previous versions, that
  function call the equivalent function single-joint in a for-cicle, so the
  function for all joints in motion control devices have never been called.
  So please, check the implementation of function for all joints in your motion
  control device because now they will be invoked for the fisrt time.
• The following classes have been deprecated:
  • ICalibrateControl2 in favour of ICalibrateControl.
  • ICalibrateControl2Raw in favour of ICalibrateControlRaw.
  • IFrameGrabberControl2 in favour of IFrameGrabberControl.
  • FrameGrabberControl2Impl in favour of FrameGrabberControlImpl
  • IControlLimits2 in favour of IControlLimits.
  • IControlLimits2Raw in favour of IControlLimitsRaw.
  • ImplementControlLimits2 in favour of ImplementControlLimits.
  • IControlMode2 in favour of IControlMode.
  • IControlMode2Raw in favour of IControlModeRaw.
  • ImplementControlMode2 in favour of ImplementControlMode.
  • IPositionControl2Raw in favour of IPositionControlRaw.
  • IPositionControl2 in favour of IPositionControl.
  • ImplementPositionControl2 in favour of ImplementPositionControl.
  • IVelocityControl2Raw in favour of IVelocityControlRaw.
  • IVelocityControl2 in favour of IVelocityControl.
  • ImplementVelocityControl2 in favour of ImplementVelocityControl.
• IPositionDirectRaw::setPositionsRaw(const int, const int*, double*) became
  IPositionDirectRaw::setPositionsRaw(const int, const int*, const double*).
• IPositionDirect::setPositions(const int, const int*, double*) became
  IPositionDirect::setPositions(const int, const int*, const double*)(#1351).
• The file yarp/dev/ControlBoardInterfacesImpl.inl was renamed
  yarp/dev/ControlBoardInterfacesImpl-inl.h
• Several methods in public interfaces have a slightly different signature (see
  #1738 for details).

YARP_sig

• The file yarp/sig/IplImage.h is deprecated, use opencv headers instead.
• Added the yarp::sig::PointCloud class. See the documentation for details.
• if libjpeg is found, namespace yarp::sig::file implements a write method to
  save jpeg images.

YARP_manager

• The following headers were removed:
  • /yarp/manager/ymm-dir.h

libyarpcxx

• The libyarpcxx was removed.

YARP_math

• added new utility methods to Quaternion class.
• method toRotationMatrix() has been renamed to toRotationMatrix4x4() to avoid
  confusion with method toRotationMatrix3x3().
• operators for yarp::math::<class>es have been moved from the yarp::math to
  the global namespace.
• libYARP_math is now enabled by default if Eigen3 is found.

YARP_companion

• new library created to isolate the old yarp::os::Companion.

Tools

yarpidl_thrift

• Classes generated by yarpidl_thrift now transfer 8/16 bit integers using
  8/16 bits instead of 32. This makes it incompatible with YARP 2.

Devices

• The following devices are no longer available in YARP, they will be
  available in the
  yarp-deprecated-devices
  repository:
  • cuda
  • nvidia
  • stage
  • vfw
  • wxsdl
  • jrkerr
  • urbtc
  • kinect
  • openni2
  • PumaCalibrator
  • meiMotionControl
  • microphone
  • dimax_u2c

New Features

Build System

• It is possible to have coloured output when running CMake, by setting the
  CLICOLOR_FORCE=1 environment variable. This is not enabled by default
  because it is not GUI friendly.

CMake Modules

YarpPlugin

• Added OPTION, DEFAULT and DOC options to yarp_begin_plugin_library.
  If the option is disabled, all plugins in the bundle are automatically
  disabled.
• Removed VERBOSE and YarpPlugin_VERBOSE options to yarp_prepare_plugin

Libraries

• New auto-generated interface libraries for ros messages:
  • YARP_rosmsg_std_msgs
  • YARP_rosmsg_actionlib_msgs
  • YARP_rosmsg_diagnostic_msgs
  • YARP_rosmsg_geometry_msgs
  • YARP_rosmsg_nav_msgs
  • YARP_rosmsg_sensor_msgs
  • YARP_rosmsg_shape_msgs
  • YARP_rosmsg_stereo_msgs
  • YARP_rosmsg_trajectory_msgs
  • YARP_rosmsg_visualization_msgs
  • YARP_rosmsg_tf
  • YARP_rosmsg_tf2_msgs
  • YARP_rosmsg (includes all the other rosmsg libraries)

YARP_OS

• yarp::os::Mutex and yarp::os::RecursiveMutex now implement the
  C++11 Mutex concept.
• Added a Timer class to execute a static or member function in a separate
  thread after a period x, every y milliseconds, for z times or w seconds.
• Improved performance of tcp and fast_tcp carriers. TCP_NODELAY and TCP_CORK
  has been added in the SocketTwoWayStream::open(), in
  SocketTwoWayStream::flush is disabled and then re-enabled.
• Added ResourceFinder::setDefault() overloads for int32_t and float64_t.

YARP_sig

• yarp::sig::file::[read|write](ImageOf<PixelFloat>&) services
  refactored to store data in binary formats.

Carriers

• mjpeg carrier is now compatible also with mono images.

Tools

yarpidl_thrift

• Ported to thrift 0.11.0.

yarpdatadumper

• Added option --type image_jpg to save frames as jpeg images.

yarpidl_rosmsg

• Fixed verbose output.
• Added new --no-cache argument.
• Added new --no-index argument.
• Fixed generation when message files are in the msg folder.
• Added new --no-recurse argument. This option can be enabled when using
  yarp_idl_to_dir and yarp_add_idl, using the NO_RECURSE argument.
• Classes are now in the yarp::rosmsg namespace.
• Files are now in the yarp/rosmsg subfolder.
• _indexALL.txt files are generated only for the requested types.
• Old style files are still generated if yarpidl_rosmsg is not built with
  YARP_NO_DEPRECATED enabled, but they are considered deprecated.
• Only required included files are now included.
• Updated YarpIDL to support the new file names in yarp_add_idl.

Devices

ControlBoardWrapper

• Added error code in attaching subdevices.
• Added realsense2 device.

Bindings

IMotorEncoders interface bindings

• IMotorEncoders interface methods can be used to directly monitor the motor
  shaft position and speed or even to control the motor positions individually
  when estimating coupled motors friction parameters.
• Added bindings for the interface IMotorEncoders.
  The change extends the yarp::dev::PolyDriver and the
  yarp::dev::IMotorEncoders classes.

Bug Fixes

Libraries

YARP_OS

• Fixed race condition in yarp::os::Nodes.
• An Int64 value no longer returns true when isInt() is called.

GUIs

• Made yarpdataplayer able to deal with ImageOf<PixelFloat> also with
  OpenCV.
• Fixed yarpdataplayer image overlapping.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v2.3.72..v3.0.0):

   490	Daniele E. Domenichelli <daniele.domenichelli@iit.it>
   242	Nicolò Genesio <nicolo.genesio@iit.it>
    28	Marco Randazzo <marco.randazzo@iit.it>
    14	Juan G. Victores <jcgvicto@gmail.com>
    13	Silvio Traversaro <silvio.traversaro@iit.it>
    12	Alberto Cardellino <alberto.cardellino@iit.it>
    12	Valentina Gaggero <valentina.gaggero@iit.it>
    10	Andrea Ruzzenenti <andrea.ruzzenenti@iit.it>
     8	Damiano Enerli <damiano.enerli@iit.it>
     8	Ugo Pattacini <ugo.pattacini@iit.it>
     6	Nuno Guedelha <nuno.guedelha@iit.it>
     4	Bartek Łukawski <bwmn.peter@gmail.com>
     4	Lorenzo Rapetti <lorenzo.rapetti@iit.it>
     4	Matteo Brunettini <matteo.brunettini@iit.it>
     2	Claudio Fantacci <claudio.fantacci@iit.it>
     2	Prashanth Ramadoss <prashanthramadoss@gmail.com>
     2	Yeshasvi Tirupachuri <yeshasvitvs@gmail.com>
     1	Bertrand Higy <bertrand.higy@iit.it>
     1	Vadim Tikhanoff <vadim.tikhanoff@iit.it>

[drdanz]

Starting with this release, we are trying to adopt the Semantic Versioning version policy.
Therefore, even if it took 12 years to get a major release, we plan to have the next major release (YARP 4) soon-ish (we don't have a date yet, but we are planning to shorten our release cycle).