Merge branch 'devel'

.travis.yml

@@ -11,54 +11,54 @@ env:
   - TRAVIS_BUILD_TYPE=Release
 
 before_script:
-  # install a recent cmake and lua 5.1 
+  # install a recent cmake and lua 5.1
   #ubuntu dependencies
   - if [ "$TRAVIS_OS_NAME" = "linux" ]; then sudo sh -c 'echo "deb http://www.icub.org/ubuntu trusty contrib/science" > /etc/apt/sources.list.d/icub.list'; fi
   - if [ "$TRAVIS_OS_NAME" = "linux" ]; then sudo apt-get update; fi
-  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then sudo apt-get install cmake liblua5.1-dev; fi
+  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then sudo apt-get install cmake3 liblua5.1-dev; fi
   - if [ "$TRAVIS_OS_NAME" = "linux" ]; then sudo apt-get --assume-yes --force-yes install icub-common libeigen3-dev; fi
-  
+
   - cd ..
 
   # install robot-testing framework
-  - git clone https://github.com/robotology/robot-testing
+  - git clone --depth=1 --branch devel https://github.com/robotology/robot-testing
   - cd robot-testing
-  - mkdir build 
-  - cd build 
+  - mkdir build
+  - cd build
   - cmake -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DENABLE_LUA_PLUGIN:BOOL=ON -DENABLE_WEB_LISTENER:BOOL=ON ..
-  - make 
-  - sudo make install 
+  - make
+  - sudo make install
   - cd ../..
 
   # install yarp
-  - git clone https://github.com/robotology/yarp
+  - git clone --depth=1 --branch devel https://github.com/robotology/yarp
   - cd yarp
   - mkdir build
   - cd build
-  - cmake -DCREATE_LIB_MATH:BOOL=ON -DCREATE_SHARED_LIBRARY:BOOL=ON -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DYARP_COMPILE_RTF_ADDONS:BOOL=ON  ..
+  - cmake -DCREATE_LIB_MATH:BOOL=ON -DCREATE_SHARED_LIBRARY:BOOL=ON -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DYARP_COMPILE_RTF_ADDONS:BOOL=ON ..
   - make
   - sudo make install
   - sudo ldconfig
   - cd ../..
-  
-   # install icub-main 
-  - git clone https://github.com/robotology/icub-main
+
+   # install icub-main
+  - git clone --depth=1 --branch devel https://github.com/robotology/icub-main
   - cd icub-main
   - mkdir build
   - cd build
-  - cmake -DCREATE_SHARED_LIBRARY:BOOL=ON -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE}  ..
+  - cmake -DCREATE_SHARED_LIBRARY:BOOL=ON -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} ..
   - make
   - sudo make install
   - sudo ldconfig
   - cd ../..
-  
+
   # configure icub-tests
   - cd icub-tests
-  - mkdir build 
-  - cd build 
+  - mkdir build
+  - cd build
   - cmake -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} ..
-  
-script: 
+
+script:
   - make
   # test install/uninstall
 

CMakeLists.txt

@@ -9,9 +9,10 @@
 cmake_minimum_required(VERSION 3.0)
 project(iCub-Tests)
 
-# find a version of RTF higher then 1.0.1
+# find a version of RTF higher then 1.3.2
 # and with yarp support enabled
-find_package(RTF 1.2 REQUIRED)
+find_package(RTF 1.3.3 COMPONENTS DLL REQUIRED)
+find_package(YARP REQUIRED)
 
 # set the output plugin directory to collect all the shared libraries
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/plugins)

example/cpp/ExampleFixture/CMakeLists.txt

@@ -18,8 +18,7 @@ find_package(YARP)
 # add include directories
 include_directories(${CMAKE_SOURCE_DIR}
                     ${RTF_INCLUDE_DIRS}
-                    ${YARP_INCLUDE_DIRS}
-                    ${YARP_HELPERS_INCLUDE_DIR})
+                    ${YARP_INCLUDE_DIRS})
 
 # add required libraries 
 link_libraries(${RTF_LIBRARIES}

example/cpp/ExampleTest/CMakeLists.txt

@@ -18,8 +18,7 @@ find_package(YARP)
 # add include directories
 include_directories(${CMAKE_SOURCE_DIR}
                     ${RTF_INCLUDE_DIRS}
-                    ${YARP_INCLUDE_DIRS}
-                    ${YARP_HELPERS_INCLUDE_DIR})
+                    ${YARP_INCLUDE_DIRS})
 
 # add the source codes to build the plugin library
 add_library(${PROJECTNAME} MODULE ExampleTest.h

src/camera/CMakeLists.txt

@@ -10,16 +10,12 @@ cmake_minimum_required(VERSION 3.0)
 set(PROJECTNAME CameraTest)
 project(${PROJECTNAME})
 
-find_package(RTF 1.1 COMPONENTS DLL)
-find_package(YARP)
-
 include_directories(${CMAKE_SOURCE_DIR}
                     ${RTF_INCLUDE_DIRS}
-                    ${YARP_INCLUDE_DIRS}
-                    ${YARP_HELPERS_INCLUDE_DIR})
+                    ${YARP_INCLUDE_DIRS})
 
-add_library(${PROJECTNAME} MODULE CameraTest.h
-                                  CameraTest.cpp)
+rtf_add_plugin(${PROJECTNAME}     HEADERS CameraTest.h
+                                  SOURCES CameraTest.cpp)
 
 target_link_libraries(${PROJECTNAME} ${RTF_LIBRARIES}
                       ${YARP_LIBRARIES} YARP::YARP_rtf)

src/camera/CameraTest.cpp

@@ -39,15 +39,15 @@ bool CameraTest::setup(yarp::os::Property& property) {
         setName(property.find("name").asString());
 
     // updating parameters
-    RTF_ASSERT_ERROR_IF(property.check("portname"),
+    RTF_ASSERT_ERROR_IF_FALSE(property.check("portname"),
                         "The portname must be given as the test paramter!");
     cameraPortName = property.find("portname").asString();
     measure_time = property.check("measure_time") ? property.find("measure_time").asInt() : TIMES;
     expected_frequency = property.check("expected_frequency") ? property.find("expected_frequency").asInt() : FREQUENCY;
     tolerance = property.check("tolerance") ? property.find("tolerance").asInt() : TOLERANCE;
 
     // opening port
-    RTF_ASSERT_ERROR_IF(port.open("/CameraTest/image:i"),
+    RTF_ASSERT_ERROR_IF_FALSE(port.open("/CameraTest/image:i"),
                         "opening port, is YARP network available?");
 
     RTF_TEST_REPORT(Asserter::format("Listening to camera for %d seconds",
@@ -56,7 +56,7 @@ bool CameraTest::setup(yarp::os::Property& property) {
     // connecting
     RTF_TEST_REPORT(Asserter::format("connecting from %s to %s",
                                        port.getName().c_str(), cameraPortName.c_str()));
-    RTF_ASSERT_ERROR_IF(Network::connect(cameraPortName, port.getName()),
+    RTF_ASSERT_ERROR_IF_FALSE(Network::connect(cameraPortName, port.getName()),
                      "could not connect to remote port, camera unavailable");
     return true;
 }
@@ -84,6 +84,6 @@ void CameraTest::run() {
     RTF_TEST_REPORT(Asserter::format("Received %d frames, expecting %d",
                                        frames,
                                        expectedFrames));
-    RTF_TEST_FAIL_IF(abs(frames-expectedFrames)<tolerance,
+    RTF_TEST_FAIL_IF_FALSE(abs(frames-expectedFrames)<tolerance,
                      "checking number of received frames");
 }

src/cartesian-control/reaching-tolerance/CMakeLists.txt

@@ -8,23 +8,19 @@ cmake_minimum_required(VERSION 3.0)
 # set the project name
 project(CartesianControlReachingToleranceTest)
 
-# add the required cmake packages
-find_package(RTF 1.1 COMPONENTS DLL)
-find_package(YARP REQUIRED)
-
 list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
 
 # add include directories
 include_directories(${CMAKE_SOURCE_DIR}
                     ${RTF_INCLUDE_DIRS}
-                    ${YARP_INCLUDE_DIRS}
-                    ${YARP_HELPERS_INCLUDE_DIR})
+                    ${YARP_INCLUDE_DIRS})
 
 # import math symbols from standard cmath
 add_definitions(-D_USE_MATH_DEFINES)
 
 # add the source codes to build the plugin library
-add_library(${PROJECT_NAME} MODULE ${PROJECT_NAME}.h ${PROJECT_NAME}.cpp)
+rtf_add_plugin(${PROJECT_NAME} HEADERS ${PROJECT_NAME}.h
+                               SOURCES ${PROJECT_NAME}.cpp)
 
 # add required libraries
 target_link_libraries(${PROJECT_NAME} ${RTF_LIBRARIES} ${YARP_LIBRARIES} YARP::YARP_rtf)

src/cartesian-control/reaching-tolerance/CartesianControlReachingToleranceTest.cpp

@@ -67,10 +67,10 @@ bool CartesianControlReachingToleranceTest::setup(Property &property)
     optJoint.put("local",("/"+getName()+"/joint/"+arm+"_arm"));
 
     RTF_TEST_REPORT(Asserter::format("Opening Cartesian Controller Client for %s_arm",arm.c_str()));
-    RTF_ASSERT_ERROR_IF(drvCart.open(optCart),"Unable to open the client!");
+    RTF_ASSERT_ERROR_IF_FALSE(drvCart.open(optCart),"Unable to open the client!");
 
     RTF_TEST_REPORT(Asserter::format("Opening Joint Controller Client for %s_arm",arm.c_str()));
-    RTF_ASSERT_ERROR_IF(drvJoint.open(optJoint),"Unable to open the client!");
+    RTF_ASSERT_ERROR_IF_FALSE(drvJoint.open(optJoint),"Unable to open the client!");
     return true;
 }
 
@@ -79,10 +79,10 @@ bool CartesianControlReachingToleranceTest::setup(Property &property)
 void CartesianControlReachingToleranceTest::tearDown()
 {
     RTF_TEST_REPORT("Closing Cartesian Controller Client");
-    RTF_ASSERT_FAIL_IF(drvCart.close(),"Unable to close the client!");
+    RTF_ASSERT_FAIL_IF_FALSE(drvCart.close(),"Unable to close the client!");
 
     RTF_TEST_REPORT("Closing Joint Controller Client");
-    RTF_ASSERT_FAIL_IF(drvJoint.close(),"Unable to close the client!");
+    RTF_ASSERT_FAIL_IF_FALSE(drvJoint.close(),"Unable to close the client!");
 }
 
 

src/cartesian-control/simple-p2p-movement/CMakeLists.txt

@@ -7,23 +7,19 @@ cmake_minimum_required(VERSION 3.0)
 # set the project name
 project(CartesianControlSimpleP2pMovementTest)
 
-# add the required cmake packages
-find_package(RTF 1.1 COMPONENTS DLL)
-find_package(YARP REQUIRED)
-
 list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
 
 # add include directories
 include_directories(${CMAKE_SOURCE_DIR}
                     ${RTF_INCLUDE_DIRS}
-                    ${YARP_INCLUDE_DIRS}
-                    ${YARP_HELPERS_INCLUDE_DIR})
+                    ${YARP_INCLUDE_DIRS})
 
 # import math symbols from standard cmath
 add_definitions(-D_USE_MATH_DEFINES)
 
 # add the source codes to build the plugin library
-add_library(${PROJECT_NAME} MODULE ${PROJECT_NAME}.h ${PROJECT_NAME}.cpp)
+rtf_add_plugin(${PROJECT_NAME} HEADERS ${PROJECT_NAME}.h
+                               SOURCES ${PROJECT_NAME}.cpp)
 
 # add required libraries
 target_link_libraries(${PROJECT_NAME} ${RTF_LIBRARIES} ${YARP_LIBRARIES} YARP::YARP_rtf)

src/cartesian-control/simple-p2p-movement/CartesianControlSimpleP2pMovementTest.cpp

@@ -59,7 +59,7 @@ bool CartesianControlSimpleP2pMovementTest::setup(Property &property)
     option.put("local",("/"+getName()+"/"+arm+"_arm"));
 
     RTF_TEST_REPORT(Asserter::format("Opening Cartesian Controller Client for %s_arm",arm.c_str()));
-    RTF_ASSERT_ERROR_IF(driver.open(option),"Unable to open the client!");
+    RTF_ASSERT_ERROR_IF_FALSE(driver.open(option),"Unable to open the client!");
     return true;
 }
 
@@ -68,7 +68,7 @@ bool CartesianControlSimpleP2pMovementTest::setup(Property &property)
 void CartesianControlSimpleP2pMovementTest::tearDown()
 {
     RTF_TEST_REPORT("Closing Cartesian Controller Client");
-    RTF_ASSERT_FAIL_IF(driver.close(),"Unable to close the client!");
+    RTF_ASSERT_FAIL_IF_FALSE(driver.close(),"Unable to close the client!");
 }
 
 

src/controlModes/CMakeLists.txt

@@ -10,16 +10,12 @@ cmake_minimum_required(VERSION 3.0)
 set(PROJECTNAME ControlModes)
 project(${PROJECTNAME})
 
-find_package(RTF 1.1 COMPONENTS DLL)
-find_package(YARP)
-
 include_directories(${CMAKE_SOURCE_DIR}
                     ${RTF_INCLUDE_DIRS}
-                    ${YARP_INCLUDE_DIRS}
-                    ${YARP_HELPERS_INCLUDE_DIR})
+                    ${YARP_INCLUDE_DIRS})
 
-add_library(${PROJECTNAME} MODULE ControlModes.h
-                                  ControlModes.cpp)
+rtf_add_plugin(${PROJECT_NAME} HEADERS ControlModes.h
+                               SOURCES ControlModes.cpp)
 target_link_libraries(${PROJECTNAME} ${RTF_LIBRARIES}
                ${YARP_LIBRARIES} YARP::YARP_rtf)
 

src/controlModes/ControlModes.cpp

@@ -49,10 +49,10 @@ bool ControlModes::setup(yarp::os::Property& property) {
         setName(property.find("name").asString());
 
     // updating parameters
-    RTF_ASSERT_ERROR_IF(property.check("robot"), "The robot name must be given as the test parameter!");
-    RTF_ASSERT_ERROR_IF(property.check("part"), "The part name must be given as the test parameter!");
-    RTF_ASSERT_ERROR_IF(property.check("joints"), "The joints list must be given as the test parameter!");
-    RTF_ASSERT_ERROR_IF(property.check("home"),    "The home positions must be given as the test parameter!");
+    RTF_ASSERT_ERROR_IF_FALSE(property.check("robot"), "The robot name must be given as the test parameter!");
+    RTF_ASSERT_ERROR_IF_FALSE(property.check("part"), "The part name must be given as the test parameter!");
+    RTF_ASSERT_ERROR_IF_FALSE(property.check("joints"), "The joints list must be given as the test parameter!");
+    RTF_ASSERT_ERROR_IF_FALSE(property.check("home"),    "The home positions must be given as the test parameter!");
 
     robotName = property.find("robot").asString();
     partName = property.find("part").asString();
@@ -64,26 +64,26 @@ bool ControlModes::setup(yarp::os::Property& property) {
     RTF_TEST_REPORT(RTF::Asserter::format("Tolerance of %.2f is used to check home position", tolerance));
 
     Bottle* jointsBottle = property.find("joints").asList();
-    RTF_ASSERT_ERROR_IF(jointsBottle!=0,"unable to parse joints parameter");
+    RTF_ASSERT_ERROR_IF_FALSE(jointsBottle!=0,"unable to parse joints parameter");
     n_cmd_joints = jointsBottle->size();
-    RTF_ASSERT_ERROR_IF(n_cmd_joints>0,"invalid number of joints, it must be >0");
+    RTF_ASSERT_ERROR_IF_FALSE(n_cmd_joints>0,"invalid number of joints, it must be >0");
 
     Property options;
     options.put("device", "remote_controlboard");
     options.put("remote", "/"+robotName+"/"+partName);
     options.put("local", "/ControlModesTest/"+robotName+"/"+partName);
 
     dd = new PolyDriver(options);
-    RTF_ASSERT_ERROR_IF(dd->isValid(),"Unable to open device driver");
-    RTF_ASSERT_ERROR_IF(dd->view(idir),"Unable to open position direct interface");
-    RTF_ASSERT_ERROR_IF(dd->view(ienc),"Unable to open encoders interface");
-    RTF_ASSERT_ERROR_IF(dd->view(iamp),"Unable to open ampliefier interface");
-    RTF_ASSERT_ERROR_IF(dd->view(ipos),"Unable to open position interface");
-    RTF_ASSERT_ERROR_IF(dd->view(icmd),"Unable to open control mode interface");
-    RTF_ASSERT_ERROR_IF(dd->view(iimd),"Unable to open interaction mode interface");
-    RTF_ASSERT_ERROR_IF(dd->view(ivel),"Unable to open velocity control interface");
-    RTF_ASSERT_ERROR_IF(dd->view(itrq),"Unable to open torque control interface");
-    RTF_ASSERT_ERROR_IF(dd->view(ivar),"Unable to open remote variables interface");
+    RTF_ASSERT_ERROR_IF_FALSE(dd->isValid(),"Unable to open device driver");
+    RTF_ASSERT_ERROR_IF_FALSE(dd->view(idir),"Unable to open position direct interface");
+    RTF_ASSERT_ERROR_IF_FALSE(dd->view(ienc),"Unable to open encoders interface");
+    RTF_ASSERT_ERROR_IF_FALSE(dd->view(iamp),"Unable to open ampliefier interface");
+    RTF_ASSERT_ERROR_IF_FALSE(dd->view(ipos),"Unable to open position interface");
+    RTF_ASSERT_ERROR_IF_FALSE(dd->view(icmd),"Unable to open control mode interface");
+    RTF_ASSERT_ERROR_IF_FALSE(dd->view(iimd),"Unable to open interaction mode interface");
+    RTF_ASSERT_ERROR_IF_FALSE(dd->view(ivel),"Unable to open velocity control interface");
+    RTF_ASSERT_ERROR_IF_FALSE(dd->view(itrq),"Unable to open torque control interface");
+    RTF_ASSERT_ERROR_IF_FALSE(dd->view(ivar),"Unable to open remote variables interface");
 
     if (!ienc->getAxes(&n_part_joints))
     {
@@ -253,9 +253,9 @@ void ControlModes::verifyModeSingle(int joint, int desired_control_mode, yarp::d
 void ControlModes::checkJointWithTorqueMode()
 {
     yarp::os::Bottle b;
-    RTF_ASSERT_ERROR_IF(ivar->getRemoteVariable("torqueControlEnabled", b), "unable to get torqueControlEnabled");
+    RTF_ASSERT_ERROR_IF_FALSE(ivar->getRemoteVariable("torqueControlEnabled", b), "unable to get torqueControlEnabled");
 
-    RTF_ASSERT_ERROR_IF((b.size() != n_part_joints), "torqueControlEnabled var returns joint num not corret.");
+    RTF_ASSERT_ERROR_IF_FALSE((b.size() != n_part_joints), "torqueControlEnabled var returns joint num not corret.");
 
     int j=0;
     for(int i=0; i<b.size() && j<n_part_joints; i++)

src/demoRedBall/CMakeLists.txt

@@ -7,23 +7,19 @@ cmake_minimum_required(VERSION 3.0)
 # set the project name
 project(DemoRedBallTest)
 
-# add the required cmake packages
-find_package(RTF 1.1 COMPONENTS DLL)
-find_package(YARP REQUIRED)
-
 list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})
 
 # add include directories
 include_directories(${CMAKE_SOURCE_DIR}
                     ${RTF_INCLUDE_DIRS}
-                    ${YARP_INCLUDE_DIRS}
-                    ${YARP_HELPERS_INCLUDE_DIR})
+                    ${YARP_INCLUDE_DIRS})
 
 # import math symbols from standard cmath
 add_definitions(-D_USE_MATH_DEFINES)
 
 # add the source codes to build the plugin library
-add_library(${PROJECT_NAME} MODULE ${PROJECT_NAME}.h ${PROJECT_NAME}.cpp)
+rtf_add_plugin(${PROJECT_NAME} HEADERS ${PROJECT_NAME}.h
+                               SOURCES ${PROJECT_NAME}.cpp)
 
 # add required libraries
 target_link_libraries(${PROJECT_NAME} ${RTF_LIBRARIES} ${YARP_LIBRARIES} YARP::YARP_rtf)