Merge branch 'devel'

.appveyor.yml

@@ -2,11 +2,10 @@ version: appveyor.{build}
 
 init:
   - cmd: git config --global core.autocrlf true
-  - cmd: dir C:\projects
   - cmd: cmake --version
   - cmd: msbuild /version
 
-clone_folder: c:\projects\yarp
+clone_folder: C:\projects\yarp
 
 platform:
   - Win32
@@ -21,21 +20,35 @@ branches:
     - travis
 
 install:
-  - ps:  $dwntool=New-Object System.Net.WebClient
+  - cmd: md C:\downloads
+
+  # Get 7zip
   - cmd: cinst 7zip.commandline -x86
-  - cmd: dir c:\projects
-  - ps:  if ($env:platform -Match "Win32") {$dwntool.DownloadFile('http://www.icub.org/download/packages/windows/msvc11/ACE_6.1.0-bin-msvc11.zip','c:\ace.zip')}
-#  - ps:  if ($env:platform -Match "x64") {$dwntool.DownloadFile('http://www.icub.org/download/packages/windows/msvc11/ACE_6.1.0-bin-msvc11.zip','c:\ace.zip')}
-  - cmd: 7z x c:\ace.zip -oc:\ -y > nul
-  - cmd: set ACE_ROOT=c:\ACE_wrappers
-  - cmd: set PATH=%PATH%;c:\ACE_wrappers\bin;c:\projects\yarp\build\bin\%CONFIGURATION%;c:\projects\yarp\build\lib\%CONFIGURATION%
-  - cmd: set CTEST_OUTPUT_ON_FAILURE=1
+
+
+  # Get ACE:
+  - cmd: if "%platform%"=="Win32" appveyor DownloadFile "http://www.icub.org/download/packages/windows/msvc11/ACE_6.1.0-bin-msvc11.zip" -FileName "C:\downloads\ace.zip"
+  - cmd: 7z x C:\downloads\ace.zip -oC:\tools\ACE -y > nul
+  - cmd: set ACE_ROOT=C:\tools\ACE\ACE_wrappers
+  - cmd: set PATH=%PATH%;C:\tools\ACE\ACE_wrappers\bin;C:\projects\yarp\build\bin\%CONFIGURATION%;C:\projects\yarp\build\lib\%CONFIGURATION%
+
+  # Get Eigen:
+  - cmd: appveyor DownloadFile "http://bitbucket.org/eigen/eigen/get/3.3-beta2.zip" -FileName "C:\downloads\eigen.zip"
+  - cmd: 7z x C:\downloads\eigen.zip -o"C:\tools\eigen" -y > nul
+  - cmd: set EIGEN3_ROOT=C:\tools\eigen\eigen-eigen-69d418c06999
+
+  # Get Qt5:
+  - cmd: appveyor DownloadFile "https://raw.githubusercontent.com/robotology-dependencies/robotology-dep-scripts/master/qt5/qt-installer-noninteractive.qs" -FileName "C:\downloads\qt-installer-noninteractive.qs"
+  - cmd: if "%platform%"=="Win32" appveyor DownloadFile "https://download.qt.io/official_releases/qt/5.5/5.5.1/qt-opensource-windows-x86-msvc2012-5.5.1.exe" -FileName "C:\downloads\qt5.exe"
+  - cmd: if "%platform%"=="Win32" C:\downloads\qt5.exe --script C:\downloads\qt-installer-noninteractive.qs
+  - cmd: if "%platform%"=="Win32" set QTDIR=C:\Qt\Qt5.5.1\5.5\msvc2012
+  - cmd: set Qt5_DIR=%QTDIR%\lib\cmake\Qt5
 
 before_build:
   - cmd: md C:\projects\yarp\build
   - cmd: cd C:\projects\yarp\build
-  - cmd: if "%platform%"=="Win32" cmake -G"Visual Studio 11" -DCMAKE_INSTALL_PREFIX:PATH=C:\projects\yarp\install -DYARP_COMPILE_TESTS:BOOL=ON ..
-  - cmd: if "%platform%"=="x64" cmake -G"Visual Studio 11 Win64" -DCMAKE_INSTALL_PREFIX:PATH=C:\projects\yarp\install -DYARP_COMPILE_TESTS:BOOL=ON ..
+  - cmd: if "%platform%"=="Win32" cmake -G"Visual Studio 11" -DCMAKE_INSTALL_PREFIX:PATH=C:\projects\yarp\install -C ..\scripts\admin\initial-cache.cmake ..
+  - cmd: if "%platform%"=="x64" cmake -G"Visual Studio 11 Win64" -DCMAKE_INSTALL_PREFIX:PATH=C:\projects\yarp\install -C ..\scripts\admin\initial-cache.cmake ..
 
 build:
   project: C:\projects\yarp\build\yarp.sln
@@ -44,4 +57,6 @@ after_build:
   - cmd: cmake --build C:\projects\yarp\build --target INSTALL --config %CONFIGURATION%
 
 test_script:
+  - cmd: set YARP_VERBOSE=1
+  - cmd: set YARP_DATA_DIRS=C:\projects\yarp\build\share\yarp
   - cmd: ctest --output-on-failure --build . -C %CONFIGURATION%

.gitattributes

@@ -1,5 +1,5 @@
 /scripts/debian/                export-ignore
-/src/modules/dimax_u2c/blob/    export-ignore
+/src/devices/dimax_u2c/blob/    export-ignore
 .gitattributes                  export-ignore
 .gitignore                      export-ignore
 .mailmap                        export-ignore

.github/CONTRIBUTING.md

@@ -43,7 +43,7 @@ This is the recommended code style for YARP.
 * The defined macro should have this format:
   * Main libraries: `YARP_<LIB>_<FILENAME_H>` i.e. `YARP_OS_FOO_H`
   * Impl headers: `YARP_<LIB>_IMPL_<FILENAME_H>` i.e. `YARP_OS_IMPL_FOO_H`
-  * Plugins (carriers and modules): `YARP_<NAME>_<CARRIER/DEVICE>_FILENAME_H` i.e.
+  * Plugins (carriers and devices): `YARP_<NAME>_<CARRIER/DEVICE>_FILENAME_H` i.e.
     `YARP_HUMAN_CARRIER_HUMANSTREAM_H` and`YARP_FAKEBOT_DEVICE_FAKEBOT_H`
   * Executables (tools and GUIs): `YARP_<NAME>_FILENAME_H` i.e. `YARP_YARP_YARPROBOT_H`
     and `YARP_YARPMANAGER_QT_YSCOPEWINDOW_H`

.mailmap

@@ -39,3 +39,4 @@ YARP Developers <yarp0-devel@lists.sourceforge.net> <icub@icub.org>
 YARP Developers <yarp0-devel@lists.sourceforge.net> <icub@icub16.icub.org>
 YARP Developers <yarp0-devel@lists.sourceforge.net> <icub.headv3@icub.org>
 YARP Developers <yarp0-devel@lists.sourceforge.net> <icub@icub22.icub.local>
+YARP Developers <yarp0-devel@lists.sourceforge.net> <ikart@iit.it>

.travis.yml

@@ -18,6 +18,8 @@ env:
     - TRAVIS_WITH_INTEGRATION_TESTS=false
     - TRAVIS_STATIC=false
     - TRAVIS_WITH_VALGRIND=false
+    - TRAVIS_NO_DEPRECATED=false
+    - TRAVIS_WITH_BROKEN_TESTS=false
 
   matrix:
     # Normal build
@@ -71,6 +73,16 @@ matrix:
       compiler: clang
       env: TRAVIS_WITH_ACE=true TRAVIS_WITH_CXX11=false TRAVIS_WITH_INTEGRATION_TESTS=true
 
+    # Normal build no deprecated (linux, gcc)
+    - os: linux
+      compiler: gcc
+      env: TRAVIS_WITH_ACE=true TRAVIS_WITH_CXX11=false TRAVIS_NO_DEPRECATED=true
+
+    # Normal build no deprecated (linux, clang)
+    - os: linux
+      compiler: clang
+      env: TRAVIS_WITH_ACE=true TRAVIS_WITH_CXX11=false TRAVIS_NO_DEPRECATED=true
+
     # Static build (linux, gcc)
     - os: linux
       compiler: gcc
@@ -111,6 +123,11 @@ matrix:
       compiler: gcc
       env: TRAVIS_WITH_ACE=false TRAVIS_WITH_CXX11=true TRAVIS_WITH_VALGRIND=true
 
+    # Normal build with valgrind and broken tests (linux, gcc)
+    - os: linux
+      compiler: gcc
+      env: TRAVIS_WITH_ACE=true TRAVIS_WITH_CXX11=false TRAVIS_WITH_VALGRIND=true TRAVIS_WITH_BROKEN_TESTS=true
+
     # Normal build with Coverage (linux, gcc)
 #    - os: linux
 #      compiler: gcc
@@ -143,6 +160,9 @@ matrix:
   allow_failures:
     # Normal build with integration tests (sometimes integration::rpc test fails)
     - env: TRAVIS_WITH_ACE=true TRAVIS_WITH_CXX11=false TRAVIS_WITH_INTEGRATION_TESTS=true
+
+    # Normal build with valgrind and broken tests (tests of already broken things)
+    - env: TRAVIS_WITH_ACE=true TRAVIS_WITH_CXX11=false TRAVIS_WITH_VALGRIND=true TRAVIS_WITH_BROKEN_TESTS=true
 
 branches:
   except:
@@ -217,28 +237,23 @@ install:
   - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if $TRAVIS_WITH_ACE; then sudo apt-get -y install libace-dev; fi; fi
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then if $TRAVIS_WITH_ACE; then brew install ace; fi; fi
 
-  # Install other core dependencies (sqlite, tinyxml)
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo apt-get install -y libsqlite3-dev libtinyxml-dev; fi
-  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew install sqlite tinyxml; fi
-
-  # Install GTK2 GUIs dependencies
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo apt-get install -y libgtkmm-2.4-dev libgtkdataboxmm-dev libgoocanvasmm-dev; fi
-  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew install gtkmm gtk+ gtkdatabox goocanvas; fi
-  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew link --force gettext; fi # Fix goocanvas build
+  # Install other core dependencies (sqlite, tinyxml, libedit)
+  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo apt-get install -y libsqlite3-dev libtinyxml-dev libedit-dev; fi
+  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew install sqlite tinyxml homebrew/dupes/libedit; fi
 
   # Install Qt5 GUIs dependencies
   - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo apt-get install -y qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev; fi
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew install qt5; fi
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export Qt5_DIR="/usr/local/opt/qt5/lib/cmake/Qt5"; fi
 
-  # Install GPL dependencies (gsl, readline, qcustomplot)
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo apt-get install -y libgsl0-dev libreadline-dev libqcustomplot-dev; fi
+  # Install GPL dependencies (gsl, qcustomplot)
+  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo apt-get install -y libgsl0-dev libqcustomplot-dev; fi
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew install gsl readline; fi
 
-  # Install other dependencies (opencv)
+  # Install other dependencies (opencv, eigen)
+  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo apt-get install -y libopencv-dev libeigen3-dev; fi
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then /usr/bin/yes | pip uninstall numpy || true; fi
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo apt-get install -y libopencv-dev; fi
-  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew install opencv; fi
+  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew install opencv eigen; fi
 
   # Install swig stuff
   - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if $TRAVIS_WITH_INTEGRATION_TESTS; then sudo apt-get -y install liblua5.1-0-dev lua5.1 tcl-dev tk-dev mono-mcs; fi; fi
@@ -264,6 +279,9 @@ before_script:
   - if $TRAVIS_WITH_INTEGRATION_TESTS; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_TEST_INTEGRATION=ON"; fi
   - if $TRAVIS_STATIC; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DCREATE_SHARED_LIBRARY=OFF"; fi
   - if $TRAVIS_WITH_VALGRIND; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_VALGRIND_TESTS=ON -DYARP_VALGRIND_DRD_TESTS=OFF -DYARP_VALGRIND_HELGRIND_TESTS=OFF YARP_VALGRIND_MEMCHECK_TESTS=ON YARP_VALGRIND_SGCHECK_TESTS=OFF"; fi
+  - if $TRAVIS_NO_DEPRECATED; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_NO_DEPRECATED=ON"; fi
+  - if $TRAVIS_WITH_BROKEN_TESTS; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_ENABLE_BROKEN_TESTS=ON"; fi
+  - export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DCREATE_LIB_MATH_USING_GSL=OFF"
 
   # Run CMake
   - (cd build; cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} ${YARP_CMAKE_OPTIONS} ..)

CMakeLists.txt

@@ -16,16 +16,22 @@ endif()
 
 project(YARP)
 
-# Pick up our CMake scripts - they are all in the conf subdirectory.
-set(YARP_MODULE_DIR ${PROJECT_SOURCE_DIR}/conf)
-set(YARP_MODULE_PATH ${YARP_MODULE_DIR})
-if(${CMAKE_VERSION} VERSION_LESS 3.5)
-  list(APPEND YARP_MODULE_PATH ${PROJECT_SOURCE_DIR}/conf/cmake-3.5/Modules)
+# Pick up our CMake scripts - they are all in the cmake subdirectory.
+set(YARP_MODULE_DIR "${CMAKE_SOURCE_DIR}/cmake")
+set(YARP_MODULE_PATH "${YARP_MODULE_DIR}")
+
+find_package(YCM 0.2.2 QUIET)
+if(NOT YCM_FOUND)
+  list(APPEND YARP_MODULE_PATH "${YARP_MODULE_DIR}/ycm-0.2/find-modules"
+                               "${YARP_MODULE_DIR}/ycm-0.2/modules"
+                               "${YARP_MODULE_DIR}/ycm-0.2/3rdparty"
+                               "${YARP_MODULE_DIR}/ycm-0.2/cmake-next")
+  if(${CMAKE_VERSION} VERSION_LESS 3.1)
+    list(APPEND YARP_MODULE_PATH "${YARP_MODULE_DIR}/ycm-0.2/cmake-3.1/Modules")
+  endif()
 endif()
-if(${CMAKE_VERSION} VERSION_LESS 3.1)
-  list(APPEND YARP_MODULE_PATH ${PROJECT_SOURCE_DIR}/conf/cmake-3.1/Modules)
-endif()
-set(CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
+
+list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
 
 # The YARP build is fairly flexible, so we need to accumulate some
 # information about what libraries are being built (and their dependencies),
@@ -36,27 +42,27 @@ set_property(GLOBAL PROPERTY YARP_LIBS)
 set_property(GLOBAL PROPERTY YARP_DEFS)
 
 # Get the current YARP version.
-# See conf/YarpVersion.cmake.
+# See cmake/YarpVersion.cmake.
 include(YarpVersion)
 
 # Check system configuration.
-# See conf/YarpSystemCheck.cmake.
+# See cmake/YarpSystemCheck.cmake.
 include(YarpSystemCheck)
 
 # Set up some compilation options.
-# See conf/YarpOptions.cmake.
+# See cmake/YarpOptions.cmake.
 include(YarpOptions)
 
 # Include some workarounds for older cmake versions
-# See conf/YarpCMakeWorkarounds.cmake
+# See cmake/YarpCMakeWorkarounds.cmake
 include(YarpCMakeWorkarounds)
 
 # Check YARP dependencies, find necessary libraries.
-# See conf/YarpFindDependencies.cmake.
+# See cmake/YarpFindDependencies.cmake.
 include(YarpFindDependencies)
 
 # Make some custom header files containing compile settings.
-add_subdirectory(conf)
+add_subdirectory(cmake)
 
 # Build required 3rd party libraries
 add_subdirectory(extern)
@@ -73,24 +79,23 @@ add_subdirectory(tests)
 # Platform independent data
 add_subdirectory(data)
 
-# add rule for uninstalling YARP
-# see conf/YARPUninstall.cmake
-include(YARPUninstall)
-
 # Output configuration files describing how YARP was built, and how
 # its libraries may be linked against and used.  This uses
 # information accumulated in the global property variables set up earlier.
-# See conf/YarpDescribe.cmake
+# See cmake/YarpDescribe.cmake
 include(YarpDescribe)
 
 # Set up some packaging properties (for generating tarballs etc).
-# See conf/YarpPackage.cmake
+# See cmake/YarpPackage.cmake
 include(YarpPackage)
 
 # Make documentation target, documentation goes in doc subdirectory
-# of build.  See conf/YarpDoc.cmake
+# of build.  See cmake/YarpDoc.cmake
 include(YarpDoc)
 
 # Make sure yarp.i and related source files get installed, to allow
 # bindings for other languages to be compiled from the build material.
 include(YarpBindingsSource)
+
+# add rule for uninstalling YARP
+include(AddUninstallTarget)