YARP 2.3.72 Released

[mbrunettini]

YARP 2.3.72 was released today and is now available for download at: https://github.com/robotology/yarp/releases/. This release is a feature release and introduces several new features and important changes since YARP 2.3.70.

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

Important Changes

• All the functionalities deprecated in YARP 2.3.65 and previous releases were
  removed.
• C++11 is required also for using YARP, not just for compiling.
• Optional dependency on YCM now requires version 0.6.0 or later.
• Optional dependency on RTF now requires version 1.4.0 or later.
• Dropped YARP1 support.
• Changed how JAVA bindings are generated
• yarp::sig::image::getIplImage() now can return a null pointer
  (instead of teminating with an assert) for not valid Ipl image formats
• yarp::sig::image::setPixelCode() now set the pixelSize accordingly (which
  should not be set).
  Since yarp::sig::image::setPixelSize() also sets an arbitrary pixel code
  equal to negative itself (setPixelSize(3) will set the pixelCode to -3), it
  should be use only for image with custom formats not covered by a yarp
  pixelCode.

Libraries

YARP_OS

• Clock refactoring: clock type can be initialized in the yarp::os::Network
  constructor or in the Network::init() function.
  This will take precedence over the environment variable.
  yarp::os::SystemRateThread class created as RateThread clone but runs
  using system clock only, independently from other settings.
  Any call to yarp::os::Time::now() or delay() before the object
  yarp::os::Network is initialized will abort the program in order to avoid
  undefined behaviour of uninitialized Time object
• Contactable::open(void) was deprecated. Use open("...") instead.
• The following methods in yarp::os::RateThread are now protected instead
  of public:
  • virtual bool threadInit();
  • virtual void threadRelease();
  • virtual void run() = 0;
  • virtual void beforeStart();
  • virtual void afterStart(bool success);
• The following methods in yarp::os::PortReaderBufferBase are now deprecated:
  • void setAllowReuse(bool flag = true)
  • void release(yarp::os::PortReader* completed)
• The methods yarp::os::Bottle::operator==() and
  yarp::os::Bottle::operator!=() are now const.

New Features

Libraries

YARP_OS

• Added the property yarprun to ports opened through yarprun --server.
• Added the property nameserver for the port opened through yarpserver.
• The method yarp::os::Network::runNameServer() was removed.
• Added possibility to enable and disable macOS AppNap (yarp/os/Os.h).
• Added a few missing ConstString::assign overloads.
• Added method yarp::os::carrier::createFace(), that returns the needed face
  of the carrier.
  This method is used in carriers::listen() and carriers::connect() in order
  to open new connection using the correct face.
• The YARP_WRAP_STL_STRING option value is now by default OFF on non-MSVC
  platforms. This means that yarp::os::ConstString is now by default a typedef
  to std::string on these platforms.
• Improve how parameters are given to the chosen carrier for a connection:
  all parameters given both on registration and on connect command are collected
  and made available in the connection initialization step.
• Added support for register a contact with an associated carrier different from
  tcp. If the chosen carrier provides a custom yarp::os::Face implementation
  this becomes the handler of incoming connections.
  In any case the carrier becomes the default for future connections.

YARP_dev

• Added a new interface for visual servoing: IVisualServoing.h.
• yarp::dev::CanBuffer now supports a const version of operator[].
• Methods of yarp::dev::IVirtualAnalogSensor renamed in order to avoid
  conflicts with similar methods of yarp::dev::IAnalogSensor.
• FrameGrabber: add a way to get cropped image via RPC. Streaming of full images
  can be disabled.

YARP_serversql

• Added a new Server class for using yarp server inside an applications.
  Both the yarp server application and the yarpserver rtf fixture use it.

Carriers

• New H264 carrier. It let you to read and decoding a h264 stream
  published by Gstreamer server.

Devices

ovrheadset

• Added hud element setted by the configuration file and connected diretly to
  image ports

Map2DServer

• Several RPC commands were added and removed.
• Added options ROS::enable_ros_subscriber and ROS::enable_ros_publisher.

laserHokuyo

• Serial port configuration is now searched in the SERIAL_PORT_CONFIGURATION
  configuration group.

GUIs

• New yarpviz gui imported from https://github.com/robotology/yarpviz

yarpmanager

• Imported the iCubCluster GUI from iCub
  (https://github.com/robotology/icub-main/tree/master/app/iCubCluster).
  It is available only on Unix.
• Added file system watcher to reload the applications when the xml
  has been modified externally. The automatic reload can be disabled
  through a dedicated checkbox in "File" menu.
• Added yarp name list and yarp clean actions after importing
  profiling capabilities of yarpviz.
• Added modifiers column in the connection list for portmonitors.
• Added the possibility to switch broker run-time, from LocalBroker to
  YarpBroker and viceversa.

RTF Plugins

• yarpserver: created a RTF Fixture manager for running yarpserver as a
  fixture.

Bindings

Java

• Completely refactored JAVA Bindings (#1372)
  Java sources and pre-compiled classes are no more generated during the build
  process (PREPARE_CLASS_FILES option has been removed too).
  Two .jar files are instead generated and installed:
  • <install_dir>/share/yarp/java/yarp.jar: contains all the YARP Java
    classes.
  • <install_dir>/share/yarp/java/yarp_matlab_java.jar: contains Java
    utilities for MATLAB.
    The JNI libraries to be loaded by the JAVA application is now called
    libyarp_java.jnilib and it is installed in
    <install_dir>/lib/jni/libyarp_java.jnilib.
• Changed package of JAVA MATLAB Utilities: from global package to
  yarp.matlab

Bug Fixes

Libraries

YARP_OS

• Added unprepare method to Publisher. See BufferedPort for documentation
  on how to use prepare and unprepare (#1425).
• Optimized Stamp::read() and Stamp::write() for textMode.

YARP_sig

• Fixed pixelSize information loss in yarp::sig::FlexImage:::read().

GUIs

yarpmanager

• Fixed the check of the status of the Computers, now it verifies that the
  corresponding port has been opened through yarp run. Be aware that after
  these changes yarpmanager will not detect machines with yarp 2.3.70
  and earlier.
• Added scan among the available carriers when you click connect and disconnect,
  if the specified carrier is not available a proper error message will be
  written on log.
• the column carrier in the connection list has been substituted with a combobox
  with the available carriers.

yarpdataplayer

• Fixed yarpdataplayer going to idle because of AppNap on macOS (#1153)

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v2.3.70..v2.3.72):

   192	Daniele E. Domenichelli <[email protected]>
   169	Nicolò Genesio <[email protected]>
   166	Damiano Enerli <[email protected]>
    64	Alberto Cardellino <[email protected]>
    49	Andrea Ruzzenenti <[email protected]>
    35	Marco Randazzo <[email protected]>
    25	Francesco Romano <[email protected]>
    22	Ali Paikan <[email protected]>
    14	Claudio Fantacci <[email protected]>
    13	Silvio Traversaro <[email protected]>
    12	Valentina Gaggero <[email protected]>
     7	YARP Developers <[email protected]>
     5	Bartek Łukawski <[email protected]>
     5	Nuno Guedelha <[email protected]>
     4	Ugo Pattacini <[email protected]>
     3	David-Estevez <[email protected]>
     3	Lorenzo Natale <[email protected]>
     2	Juan G Victores <[email protected]>
     2	Matteo Brunettini <[email protected]>
     1	Elena Rampone <[email protected]>
     1	Giovanni Saponaro <[email protected]>
     1	Marco Monforte <[email protected]>
     1	Massimiliano Iacono <[email protected]>