🚀 YARP 3.2.0 Released #355

mbrunettini · 2019-06-27T09:01:58Z

mbrunettini
Jun 27, 2019

YARP 3.2.0 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

Optional dependency on YCM now requires version 0.10.4 or later.
Optional dependency on RobotTestingFramework now requires version 2 or later.
Rplidar SDK updated to 1.9.0
Thrift updated to 0.12.0
QCustomPlot 2 is now supported.
Optional dependency on LibOVR now requires version 1.17 or later.

Bindings

Removed support for 'Chicken Scheme' and 'Allegro Common Lisp'.
Swig 4 is now supported.

Devices

The portaudio and the ServerSoundGrabber device drivers are deprecated.

New Features

Build System

.ini files for plugins configured with yarp_prepare_plugin can now be
automatically generated by yarp_add_plugin and installed by passing the
YARP_INI DESTINATION argument to yarp_install.
The CREATE_LIB_MATH CMake option was renamed YARP_COMPILE_libYARP_math.
The CREATE_GUIS CMake option was renamed YARP_COMPILE_GUIS.
All the CREATE_<UPPERCASE_EXECUTABLE> were renamed
YARP_COMPILE_<lowercase-executable>
All the YARP_USE_<UPPERCASEPACKAGENAME> were renamed
YARP_USE_<PackageName>
All the YARP_USE_SYSTEM_<UPPERCASEPACKAGENAME> were renamed
YARP_USE_SYSTEM_<PackageName>
All the internal CMake variables related to packages now use the same case
as the relative CMake module (i.e. YARP_HAS_OpenCV instead of
YARP_HAS_OPENCV)

yarp_idl_to_dir signature changed, and now supports passing optional
parameters:

   yarp_idl_to_dir(INPUT_FILES <file> [file]
                   OUTPUT_DIR <dir>
                   [SOURCES_VAR <var>]
                   [HEADERS_VAR <var>]
                   [INCLUDE_DIRS_VAR <var>]
                   [THRIFT_INCLUDE_PREFIX]
                   [THRIFT_NO_NAMESPACE_PREFIX]
                   [THRIFT_NO_COPYRIGHT}
                   [THRIFT_NO_EDITOR]
                   [THRIFT_NO_DOC]
                   [VERBOSE])

The old behaviour is still supported, but deprecated.

yarp_idl_to_dir always regenerates files if they are not available.
yarp_idl_to_dir No longer generates build targets.
Files returned by yarp_idl_to_dir are now relative to current directory.

Libraries

`YARP_conf`

The yarp/conf/options.h header file is deprecated.

`YARP_OS`

The following methods signatures were changed to accept const char instead
of int as terminating character:
- ConnectionReader::expectText()
- ConnectionWriter::appendString()
- InputStream::readLine()
Added YarpPluginSelector::checkPlugin() static method.
ConnectionWriter::appendString() is deprecated in favour of appendText().
ConnectionWriter::appendRawString() is deprecated in favour of
appendString().
Added ConnectionReader::expectString().
Added the initiliizer_list constructor in yarp::os::Property.
Added the initiliizer_list constructor in yarp::os::Bottle.

yarp::os::NameSpace: All methods in the interface that take ContactStyle
as parameter, are now passed by reference instead of by value.

- virtual bool connectPortToTopic(const Contact& src, const Contact& dest, ContactStyle style) = 0;
+ virtual bool connectPortToTopic(const Contact& src, const Contact& dest, const ContactStyle& style) = 0;

- virtual bool connectTopicToPort(const Contact& src, const Contact& dest, ContactStyle style) = 0;
+ virtual bool connectTopicToPort(const Contact& src, const Contact& dest, const ContactStyle& style) = 0;

- virtual bool disconnectPortFromTopic(const Contact& src, const Contact& dest, ContactStyle style) = 0;
+ virtual bool disconnectPortFromTopic(const Contact& src, const Contact& dest, const ContactStyle& style) = 0;

- virtual bool disconnectTopicFromPort(const Contact& src, const Contact& dest, ContactStyle style) = 0;
+ virtual bool disconnectTopicFromPort(const Contact& src, const Contact& dest, const ContactStyle& style) = 0;

- virtual bool connectPortToPortPersistently(const Contact& src, const Contact& dest, ContactStyle style) = 0;
+ virtual bool connectPortToPortPersistently(const Contact& src, const Contact& dest, const ContactStyle& style) = 0;

- virtual bool disconnectPortToPortPersistently(const Contact& src, const Contact& dest, ContactStyle style) = 0;
+ virtual bool disconnectPortToPortPersistently(const Contact& src, const Contact& dest, const ContactStyle& style) = 0;

`YARP_sig`

Added ImageUtils.h, an header containing the following image utilities:
- utils::vertSplit
- utils::horzSplit
- utils::vertConcat
- utils::horzConcat
yarp::sig::file Added support to write .png files
Added the following methods to VectorOf:
- VectorOf(std::initializer_list)
- begin(), end(), cbegin(), cend()
- reserve(size_t)
- capacity()
- push_back(T&&)
- emplace_back(_Args...)
Deprecated VectorOf::getFirst() in favour of data() and begin().
Use either data() if you need the pointer to the first element, or begin()
if you need the iterator.
Added yarp::sig::IntrinsicParams and yarp::sig::YarpDistortion emum.
Added two methods for computing a yarp::sig::PointCloud from depth images:
- utils::depthToPC
- utils::depthRgbToPC
Deprecated getIplImage and wrapIplImage in favour of the new utilities of
YARP_cv.
Added move semantics in yarp::sig::Image.
The yarp::sig::Sound class was heavily refactored:
- New data types:
  - Sound::audio_sample (short int)
- Changed signatures:
  - ```
  - Sound(int bytesPerSample)
  + Sound(size_t bytesPerSample)
```
- ```
- int get(size_t sample, size_t channel) const
+ audio_sample get(size_t sample, size_t channel) const
```
  - ```
  - void set(int value, size_t sample, size_t channel)
  + void set(audio_sample value, size_t sample, size_t channel)
```
- ```
- void setSafe(int value, size_t sample, size_t channel)
+ void setSafe(audio_sample value, size_t sample, size_t channel)
```
  - ```
  - size_t getFrequency() const
  + int getFrequency() const
```
- ```
- void setFrequency(size_t freq)
+ void setFrequency(int freq)
```
- Removed methods:
  - unsigned char *getRawData() const
  - size_t getRawDataSize() const
- Added methods:
  - bool operator==(const Sound& alt) const
  - bool clearChannel(size_t channel)
  - Sound extractChannelAsSound(size_t channel_id) const
  - std::vector<std::reference_wrapper<audio_sample>> getChannel(size_t channel_id)
  - bool replaceChannel(size_t id, Sound channel)
  - std::vector<std::reference_wrapper<audio_sample>> getInterleavedAudioRawData() const
  - std::vector<std::reference_wrapper<audio_sample>> getNonInterleavedAudioRawData() const
  - std::string toString() const
  - double getDuration() const

`YARP_dev`

yarp::dev::IMap2D::clear() method renamed to
yarp::dev::IMap2D::clearAllMaps().
yarp::dev::INavigation2D derives from INavigation2DControlActions
and INavigation2DTargetActions.
yarp::dev::INavigation2DControlActions. The following methods have been
added:
getAllNavigationWaypoints(std::vector<yarp::dev::Map2DLocation>& waypoints)
getCurrentNavigationWaypoint(yarp::dev::Map2DLocation& curr_waypoint)
getCurrentNavigationMap(yarp::dev::NavigationMapTypeEnum map_type, yarp::dev::MapGrid2D& map)
yarp::dev::INavigation2DTargetActions. The following method has been added:
gotoTargetByRelativeLocation(double x, double y)
The following method now accepts a parameter (with default value = infinite
for backward compatibility):
yarp::dev::INavigation2DTargetActions::suspendNavigation(const double time_s = std::numeric_limits<double>::infinity())
yarp::dev::ILocalization2D added the new two following methods:
- bool getLocalizationStatus(LocalizationStatusEnum& status)
- bool getEstimatedPoses(std::vector<yarp::dev::Map2DLocation>& poses)
yarp::dev::ILocalization2D added the new type: LocalizationStatusEnum
yarp::dev::IBattery::getBatteryStatus() now uses Battery_status enum,
instead of int.
yarp::dev::INavigation2D. Added method
yarp::dev::INavigation2DControlActions::recomputeCurrentNavigationPath().
yarp::dev::INavigation2D. Added helper static methods:
- yarp::dev::INavigation2DHelpers::statusToString()
- yarp::dev::INavigation2DHelpers::stringToStatus()
yarp::dev::INavigation2D. Added method:
yarp::dev::INavigation2D::getNameOfCurrentTarget() to the interface.
yarp::dev::INavigation2D. Method:
yarp::dev::INavigation2D::gotoTargetByLocationName() now accepts area names.
yarp::dev::INavigation2D. Added class yarp::dev::Map2DArea.
yarp::dev::INavigation2D. Added methods getArea(), checkInsideArea() and
checkNearToLocation().
yarp::dev::INavigation2DTargetActions. Added method
applyVelocityCommand().
yarp::dev::Map2DServer. Changed locations.ini file format to support
load/save of Map2DLocation and Map2DArea.
Updated AnalogWrapper to open multiple ros topics for wrenchStamped
ros msg type.
Added const counterpart of yarp::dev::CanBuffer::getPointer().
yarp::dev::IMap2D Added method yarp::dev::IMap2D::renameLocation()
yarp::dev::IMap2D Added method yarp::dev::IMap2D::renameArea()
Added yarp::dev::CircularAudioBuffer and yarp::dev::AudioBufferSize
classes.
IAudioRender:
- Changed signatures:
  - ```
  - bool renderSound(yarp::sig::Sound& sound)
  + bool renderSound(const yarp::sig::Sound& sound)
```
- Added methods:
  - bool getPlaybackAudioBufferMaxSize(yarp::dev::AudioBufferSize& size)
  - bool getPlaybackAudioBufferCurrentSize(yarp::dev::AudioBufferSize& size)
  - bool resetPlaybackAudioBuffer()
  - bool getRecordingAudioBufferMaxSize(yarp::dev::AudioBufferSize& size)
  - bool getRecordingAudioBufferCurrentSize(yarp::dev::AudioBufferSize& size)
  - bool resetRecordingAudioBuffer()
IAudioGrabberSound:
- Changed signatures:
  - ```
  - bool getSound(yarp::sig::Sound& sound)
  + bool getSound(yarp::sig::Sound& sound, size_t min_number_of_samples, size_t max_number_of_samples, double max_samples_timeout_s)
```
- Added methods:
  - bool getRecordingAudioBufferMaxSize(yarp::dev::AudioBufferSize& size)
  - bool getRecordingAudioBufferCurrentSize(yarp::dev::AudioBufferSize& size)
  - bool resetRecordingAudioBuffer()

`YARP_cv`

Added YARP_cv, a conversion library from YARP images to cv::Mat and
viceversa.

Devices

New devices:
- fakeBattery
- navigation2DServer
- localization2DServer
- usbCamera (imported from the iCub repository)
- fakeNavigation
- fakeLocalizer
- audioRecorderWrapper
- portaudioRecorder
- portaudioPlayer
- audioPlayerWrapper
- fakeSpeaker
- fakeMicrophone
Add physFocalLength parameter for RGBD devices (check documentation for more
details).

`BatteryWrapper`

Now handles correctly --subdevice option.

`imuBosch_BNO055`

Added MultipleAnalogSensor interface support.
Fixed conversion factor for gyro and magnetometer.
Fixed unit measure in ThreeAxis interface.

`Navigation2DClient`

Added handler for rpc string commands.
By default the port is called <client_name>/user_commands/rpc.

`fakeLaser`

Added configuration parameters to set the range and the resolution of the
device.

`analogServer`

Has learned to forward return codes to analogSensorClient (#1981).
Now forwards calibrateSensor(const yarp::sig::Vector& value)
calls to wrapped subdevices.

`ServerSoundGrabber`

No longer implements IAudioGrabberSound.

`ServerFrameGrabber`

No longer implements audio interfaces.

RFModules

Added the possibility to compile RFModules as plugin and load them runtime
in a single process context.

Tools

`yarprobotinterface`

YARP//DTD yarprobotinterface 3.0//EN is now the default parser for robot xml configuration files.
yarprobotinterface will not run anymore deprecated DTD format v1.0

`yarpidl_thrift`

The thrift tool was refactored.
Fix list serialization for i8, i16 and i64 (#1962)
Structs can now be exported in dll APIs using the yarp.api.include and
yarp.api.keyword annotations.
Portables serialized using appendExternalBlock (i.e. yarp::sig::Vector)
can now be safely returned by thrift methods.
Files are now generating using namespace as subdirectory (this can be
disabled using the no_namespace_prefix option.
Constants and typedefs are now properly generated in the namespace.

`yarphear`

Use portaudioPlayer instead of portaudio device.

GUIs

`yarpmanager`

Allow to specify an address for every host in the cluster-config.xml file.
This allow to use host names that cannot be resolved automatically by the
network.

`yarpview`

Added size (w,h) info for:
- the image received on the yarp port
- the image currently displayed in yarpview

Bug Fixes

Libraries

YARP_dev

ImplementPositionControl::checkMotionDone now correctly returns a single
value as from API (#2027).

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.1.0..v3.2.0):

   411	Daniele E. Domenichelli <[email protected]>
   154	Nicolò Genesio <[email protected]>
    76	Marco Randazzo <[email protected]>
    70	Alberto Cardellino <[email protected]>
    19	Valentina Gaggero <[email protected]>
    13	Silvio Traversaro <[email protected]>
    11	Bartek Łukawski <[email protected]>
     8	Damiano Enerli <[email protected]>
     7	Ugo Pattacini <[email protected]>
     5	Yeshasvi Tirupachuri <[email protected]>
     4	Andrea Ruzzenenti <[email protected]>
     4	Claudio Fantacci <[email protected]>
     4	Stefano Dafarra <[email protected]>
     3	Andrea Ruzzenenti <[email protected]>
     3	Matteo Brunettini <[email protected]>
     2	Arren Glover <[email protected]>
     2	Diego Ferigo <[email protected]>
     2	Nuno Guedelha <[email protected]>
     2	Prashanth Ramadoss <[email protected]>
     2	Tobias Fischer <[email protected]>
     1	Austin Kothig <[email protected]>
     1	Emilio Benenati <[email protected]>
     1	Francesco Romano <[email protected]>
     1	GiulioRomualdi <[email protected]>
     1	Jason Chevrie <[email protected]>
     1	Mohamed Babiker Mohamed Elobaid <[email protected]>
     1	Vadim Tikhanoff <[email protected]>
     1	YARP Developers <[email protected]>

Tobias-Fischer · 2019-07-09T13:48:59Z

Tobias-Fischer
Jul 9, 2019

Hey, thanks for the new releases! Is there an estimate when the Windows builds will be available?

0 replies

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Robotology

🚀 YARP 3.2.0 Released #355

mbrunettini Jun 27, 2019

Important Changes

Dependencies

Bindings

Devices

New Features

Build System

Libraries

YARP_conf

YARP_OS

YARP_sig

YARP_dev

YARP_cv

Devices

BatteryWrapper

imuBosch_BNO055

Navigation2DClient

fakeLaser

analogServer

ServerSoundGrabber

ServerFrameGrabber

RFModules

Tools

yarprobotinterface

yarpidl_thrift

yarphear

GUIs

yarpmanager

yarpview

Bug Fixes

Libraries

YARP_dev

Contributors

Replies: 1 comment

Tobias-Fischer Jul 9, 2019

mbrunettini
Jun 27, 2019

`YARP_conf`

`YARP_OS`

`YARP_sig`

`YARP_dev`

`YARP_cv`

`BatteryWrapper`

`imuBosch_BNO055`

`Navigation2DClient`

`fakeLaser`

`analogServer`

`ServerSoundGrabber`

`ServerFrameGrabber`

`yarprobotinterface`

`yarpidl_thrift`

`yarphear`

`yarpmanager`

`yarpview`

Tobias-Fischer
Jul 9, 2019