Merge branch 'devel'

.github/CODEOWNERS

@@ -30,14 +30,15 @@
 /src/libYARP_init/**                        @drdanz
 /src/libYARP_logger/**                      @randaz81
 /src/libYARP_manager/**                     @Nicogene
+/src/libYARP_profiler/**                    @Nicogene
 /src/libYARP_math/**                        @traversaro
 /src/libYARP_name/**                        @drdanz
 /src/libYARP_OS/**                          @drdanz
-/src/libYARP_rtf/**                         @drdanz @Nicogene
+/src/libYARP_rtf/**                         @Nicogene @aerydna
 /src/libYARP_serversql/**                   @drdanz
 /src/libYARP_sig/                           @drdanz
 /src/libYARP_wire_rep_utils/**              @drdanz
-/src/rtf-plugins/**                         @drdanz @Nicogene
+/src/rtf-plugins/**                         @Nicogene @aerydna
 /src/yarp/**                                @drdanz
 /src/yarpbatterygui/**                      @randaz81
 /src/yarpdatadumper/**                      @pattacini
@@ -52,5 +53,6 @@
 /src/yarprobotinterface/**                  @drdanz
 /src/yarprun/**                             @drdanz
 /src/yarpserver/**                          @drdanz
+/src/yarpviz/**                             @Nicogene
 CMakeLists.txt                              @drdanz
 *.cmake                                     @drdanz

.gitignore

@@ -2,14 +2,8 @@
 /build*/
 /packaging/windows/build/
 /packaging/linux/build/
-/bindings/build*/
 /example/dev/build*/
 /example/portmonitor/simple_dll/build*/
-/bindings/check*/
-/bindings/java/
-/bindings/lua/
-/bindings/python/
-/bindings/ruby/
 *kdev*
 *.orig
 tags

.mailmap

@@ -4,6 +4,7 @@ Alessandro Roncone <[email protected]> <[email protected]>
 Alessandro Scalzo <[email protected]>
 Alessandro Scalzo <[email protected]> <[email protected]>
 Ali Paikan <[email protected]> <[email protected]>
+Andrea Ruzzenenti <[email protected]>
 Bertrand Higy <[email protected]> <[email protected]>
 Claudio Fantacci <[email protected]> <[email protected]>
 Daniele E. Domenichelli <[email protected]> <[email protected]>

.travis.yml

@@ -43,29 +43,15 @@ addons:
   apt:
     sources:
       - ubuntu-toolchain-r-test
-#      - llvm-toolchain-precise-3.6
-#      - llvm-toolchain-precise-3.7
-#      - llvm-toolchain-precise-3.8
-#      - llvm-toolchain-trusty-3.9
-#      - llvm-toolchain-trusty-4.0
       - llvm-toolchain-trusty-5.0
     packages:
       # gcc
-#      - gcc-5
-#      - g++-5
-#      - gcc-6
-#      - g++-6
       - gcc-7
       - g++-7
       # clang
-#      - clang-3.6
-#      - clang-3.7
-#      - clang-3.8
-#      - clang-3.9
-#      - clang-4.0
       - clang-5.0
-      - libc++-dev
       # build tools
+      - cmake3
       - ninja-build
       - lcov
       - valgrind
@@ -83,6 +69,8 @@ addons:
       - libopencv-dev
       - libeigen3-dev
       - libgraphviz-dev
+      - libgstreamer1.0-dev
+      - libgstreamer-plugins-base1.0-dev
       # Bindings
       - swig3.0
       # C# bindings
@@ -97,6 +85,10 @@ addons:
       - python3-dev
       # Octave bindings
       - liboctave-dev
+      # Java bindings
+      - default-jdk
+      # Ruby bindings
+      - ruby-dev
 
 matrix:
   exclude:
@@ -258,40 +250,30 @@ before_install:
   # Add additional repositories
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew tap homebrew/science; fi
 
-  # Install gcc alternatives
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.8 40 --slave /usr/bin/g++ g++ /usr/bin/g++-4.8; fi
-#  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 --slave /usr/bin/g++ g++ /usr/bin/g++-5; fi
-#  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-6 60 --slave /usr/bin/g++ g++ /usr/bin/g++-6; fi
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 60 --slave /usr/bin/g++ g++ /usr/bin/g++-7; fi
-
-  # Remove default clang from path
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then export PATH=`echo $PATH | sed -e 's/\/usr\/local\/clang-3.5.0\/bin://'`; fi
-
-  # Install clang alternatives
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo update-alternatives --install /usr/bin/clang clang /usr/local/clang-3.5.0/bin/clang 40 --slave /usr/bin/clang++ clang++ /usr/local/clang-3.5.0/bin/clang++; fi
-#  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-3.6/bin/clang 60 --slave /usr/bin/clang++ clang++ /usr/lib/llvm-3.6/bin/clang++; fi
-#  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-3.7/bin/clang 60 --slave /usr/bin/clang++ clang++ /usr/lib/llvm-3.7/bin/clang++; fi
-#  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-3.8/bin/clang 60 --slave /usr/bin/clang++ clang++ /usr/lib/llvm-3.8/bin/clang++; fi
-#  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-3.9/bin/clang 60 --slave /usr/bin/clang++ clang++ /usr/lib/llvm-3.9/bin/clang++; fi
-#  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-4.0/bin/clang 60 --slave /usr/bin/clang++ clang++ /usr/lib/llvm-4.0/bin/clang++; fi
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo update-alternatives --install /usr/bin/clang clang /usr/lib/llvm-5.0/bin/clang 60 --slave /usr/bin/clang++ clang++ /usr/lib/llvm-5.0/bin/clang++; fi
-
-  # Clang on ubuntu trusty requires libc++-dev
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$CXX" == "clang++" ]; then export CXXFLGAS="$CXXFLAGS -stdlib=libc++"; fi; fi
-
   # Install ccache on osx
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew install ccache; fi
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH"; fi
 
   # Use ccache also for clang and clang++ on linux
   - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo ln -s ../../bin/ccache /usr/lib/ccache/clang; fi
   - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo ln -s ../../bin/ccache /usr/lib/ccache/clang++; fi
+  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo ln -s ../../bin/ccache /usr/lib/ccache/clang-5.0; fi
+  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo ln -s ../../bin/ccache /usr/lib/ccache/clang++-5.0; fi
 
   # These can be removed for ccache 3.2 (at the moment Ubunty trusty has 3.1.9)
   # see https://bugzilla.samba.org/show_bug.cgi?id=8118
   - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$CC" == "clang" ]; then export CFLAGS="$CFLAGS -Qunused-arguments"; fi; fi
   - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$CXX" == "clang++" ]; then export CXXFLAGS="$CXXFLAGS -Qunused-arguments"; fi; fi
 
+  # Force gcc-7
+  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$CC" == "gcc" ]; then export CC=gcc-7; export CXX=g++-7; fi; fi
+
+  # Force clang-5.0
+  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$CC" == "clang" ]; then export CC=clang-5.0; export CXX=clang++-5.0; fi; fi
+
+  # Remove default clang from path
+  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then export PATH=`echo $PATH | sed -e 's/\/usr\/local\/clang-3.5.0\/bin://'`; fi
+
   # Print some more system information after installing all build tools
   - echo "-------------------- BEGIN SYSTEM INFORMATION --------------------"
   - uname -a
@@ -309,8 +291,11 @@ before_install:
   - which ccache
   - ccache --version
   - ccache -s
+  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then ls -la /usr/lib/ccache; fi
   - if [ "$TRAVIS_OS_NAME" == "linux" ]; then which swig3.0; fi
   - if [ "$TRAVIS_OS_NAME" == "linux" ]; then swig3.0 -version; fi
+  - which javac
+  - javac -version
   - echo "--------------------  END SYSTEM INFORMATION  --------------------"
 
 
@@ -336,11 +321,11 @@ install:
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew install opencv eigen graphviz; fi
 
   # Install swig stuff
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if $TRAVIS_WITH_INTEGRATION_TESTS; then wget https://github.com/robotology-dependencies/swigs/releases/download/v0.0.5/swigs.zip; fi; fi
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if $TRAVIS_WITH_INTEGRATION_TESTS; then unzip -q swigs.zip; mkdir -p cache; mv swigs cache/swig; fi; fi
+  - if $TRAVIS_WITH_INTEGRATION_TESTS; then wget https://github.com/robotology-dependencies/swigs/releases/download/v0.0.5/swigs.zip; fi
+  - if $TRAVIS_WITH_INTEGRATION_TESTS; then unzip -q swigs.zip; mkdir -p cache; mv swigs cache/swig; fi
 
   # Init ROS
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if $TRAVIS_WITH_INTEGRATION_TESTS; then source /opt/ros/jade/setup.bash; fi; fi
+  - if $TRAVIS_WITH_INTEGRATION_TESTS; then source /opt/ros/jade/setup.bash; fi
 
 
 before_script:
@@ -350,16 +335,18 @@ before_script:
 
   # Prepare cmake options
   - . scripts/admin/generate-cmake-options.sh $(hostname) $(lsb_release -cs) continuous
-  - export YARP_CMAKE_OPTIONS="${CMAKE_OPTIONS} -DYARP_EXPERIMENTAL_CXX11=ON"
-  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_COMPILE_BINDINGS=ON -DCREATE_LUA=ON -DCREATE_PYTHON=ON -DCREATE_TCL=ON"; fi
+  - export YARP_INSTALL_PREFIX="${PWD}/install"
+  - export YARP_CMAKE_OPTIONS="${CMAKE_OPTIONS} -DCMAKE_INSTALL_PREFIX=${YARP_INSTALL_PREFIX} -DYARP_EXPERIMENTAL_CXX11=ON"
   - if ! $TRAVIS_WITH_ACE; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DSKIP_ACE=ON -DYARP_TEST_HEAP=ON"; fi
   - if ! $TRAVIS_WITH_MATH; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DCREATE_LIB_MATH:BOOL=OFF -DENABLE_yarpmod_fakeIMU:BOOL=OFF -DENABLE_yarpmod_fakeLaser:BOOL=OFF"; fi
-  - if $TRAVIS_WITH_INTEGRATION_TESTS; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_TEST_INTEGRATION=ON"; fi
+  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DENABLE_yarpcar_h264:BOOL=ON"; fi
+  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_COMPILE_BINDINGS=ON -DCREATE_LUA=ON -DCREATE_PYTHON=ON -DCREATE_TCL=ON -DCREATE_JAVA=ON -DCREATE_CSHARP=ON"; fi
   - if $TRAVIS_STATIC; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DCREATE_SHARED_LIBRARY=OFF"; fi
   - if $TRAVIS_CLEAN_API; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_CLEAN_API=ON -DYARP_COMPILE_TESTS=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
+  - if $TRAVIS_WITH_INTEGRATION_TESTS; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_TEST_INTEGRATION=ON"; fi
 
   # TinyXML on trusty is built with C++98 ABI and clang fails.
   - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$CC" == "clang" ]; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_USE_SYSTEM_TINYXML=OFF"; fi; fi
@@ -401,11 +388,11 @@ script:
   - if ! $TRAVIS_CLEAN_API; then (cd build; travis_wait 50 ctest --output-on-failure --build . -C ${TRAVIS_BUILD_TYPE}); fi
 
   # Test installation
-  - (cd build; sudo cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install)
+  - (cd build; cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install)
 
   # Build also the os examples
   - mkdir example/os/build
-  - (cd example/os/build; cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} ..)
+  - (cd example/os/build; cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DYARP_DIR=${YARP_INSTALL_PREFIX}/lib/cmake/YARP ..)
   - (cd example/os/build; cmake --build . --config ${TRAVIS_BUILD_TYPE})
 
 

CMakeLists.txt

@@ -4,20 +4,31 @@
 
 cmake_minimum_required(VERSION 3.0)
 
+if(NOT ${CMAKE_VERSION} VERSION_LESS 3.8)
+  cmake_policy(SET CMP0067 NEW)
+endif()
+
+# RPATH cmake policy set to NEW
+if(NOT ${CMAKE_VERSION} VERSION_LESS 3.9)
+  cmake_policy(SET CMP0068 NEW)
+endif()
+
 # Pick up our CMake scripts - they are all in the cmake subdirectory.
 set(YARP_MODULE_DIR "${CMAKE_SOURCE_DIR}/cmake")
 set(YARP_MODULE_PATH "${YARP_MODULE_DIR}")
 
-set(YCM_REQUIRED_VERSION 0.4.0) # Used also by YarpFindDependencies
+set(YCM_REQUIRED_VERSION 0.6.0) # Used also by YarpFindDependencies
 find_package(YCM ${YCM_REQUIRED_VERSION} QUIET)
 if(NOT YCM_FOUND)
   list(APPEND YARP_MODULE_PATH "${YARP_MODULE_DIR}/ycm-${YCM_REQUIRED_VERSION}/find-modules"
                                "${YARP_MODULE_DIR}/ycm-${YCM_REQUIRED_VERSION}/modules"
-                               "${YARP_MODULE_DIR}/ycm-${YCM_REQUIRED_VERSION}/3rdparty"
-                               "${YARP_MODULE_DIR}/ycm-${YCM_REQUIRED_VERSION}/cmake-next")
+                               "${YARP_MODULE_DIR}/ycm-${YCM_REQUIRED_VERSION}/3rdparty")
   if(${CMAKE_VERSION} VERSION_LESS 3.1)
     list(APPEND YARP_MODULE_PATH "${YARP_MODULE_DIR}/ycm-${YCM_REQUIRED_VERSION}/cmake-3.1/Modules")
   endif()
+  if(${CMAKE_VERSION} VERSION_LESS 3.8)
+    list(APPEND YARP_MODULE_PATH "${YARP_MODULE_DIR}/ycm-${YCM_REQUIRED_VERSION}/cmake-3.8/Modules")
+  endif()
 endif()
 
 list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
@@ -95,9 +106,5 @@ include(YarpPackage)
 # 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)

README.md

@@ -50,8 +50,8 @@ There's a comprehensive list of tutorials here:
 License
 -------
 
-Material included in YARP is Copyright of Istituto Italiano di Tecnologia and
-RobotCub Consortium. YARP is released under the terms of the LGPL v2.1 or
+Material included in YARP is Copyright of Istituto Italiano di Tecnologia (IIT)
+and RobotCub Consortium. YARP is released under the terms of the LGPL v2.1 or
 later. See the file COPYING for details.
 
 Certain optional parts of YARP have dependencies that have more