C++20 support

cmake/YarpSystemCheck.cmake

@@ -21,7 +21,7 @@ include(GNUInstallDirs)
 # These variables are used by try_compile, so they must be set here
 
 set(CMAKE_CXX_EXTENSIONS OFF)
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 

extern/catch2/CMakeLists.txt

@@ -6,6 +6,16 @@ project(YARP_catch2)
 add_library(YARP_catch2 STATIC)
 add_library(YARP::YARP_catch2 ALIAS YARP_catch2)
 
+if(MSVC)
+    #This is required because of https://github.com/catchorg/Catch2/issues/2174
+    if(CMAKE_GENERATOR MATCHES "Visual Studio")
+      target_compile_options(YARP_catch2 PRIVATE "/Zc:hiddenFriend-")
+    endif()
+    if(CMAKE_GENERATOR MATCHES "Ninja")
+      target_compile_options(YARP_catch2 PRIVATE "/Zc:hiddenFriend-")
+    endif()
+endif(MSVC)
+
 set(YARP_catch2_SRCS
   catch2/catch_amalgamated.cpp
 )

src/devices/VirtualAnalogWrapper/VirtualAnalogWrapper.h

@@ -43,7 +43,55 @@
 // TODO add IVirtualAnalogSensor interface to have Channels number and status??
 
 
-class AnalogSubDevice;
+class AnalogSubDevice
+{
+public:
+    AnalogSubDevice();
+    ~AnalogSubDevice();
+
+    bool attach(yarp::dev::PolyDriver* driver, const std::string& key);
+    void detach();
+
+    bool configure(int map0, int map1, const std::string& key);
+
+    bool isAttached() { return mIsAttached; }
+
+    void setTorque(int joint, double torque)
+    {
+        if (joint < mMap0 || mMap1 < joint) {
+            return;
+        }
+
+        mTorques[joint - mMap0] = torque;
+    }
+
+    void resetTorque()
+    {
+        mTorques.zero();
+    }
+
+    void flushTorques()
+    {
+        if (mpSensor) {
+            mpSensor->updateVirtualAnalogSensorMeasure(mTorques);
+        }
+    }
+
+    const std::string& getKey() { return mKey; }
+
+protected:
+    std::string mKey;
+
+    int mMap0, mMap1;
+
+    yarp::sig::Vector mTorques;
+
+    bool mIsConfigured;
+    bool mIsAttached;
+    double lastRecvMsg{ 0.0 };
+    yarp::dev::PolyDriver* mpDevice;
+    yarp::dev::IVirtualAnalogSensor* mpSensor;
+};
 
 /**
  *  @ingroup dev_impl_wrapper
@@ -68,7 +116,7 @@ class VirtualAnalogWrapper :
     VirtualAnalogWrapper& operator=(const VirtualAnalogWrapper&) = delete;
     VirtualAnalogWrapper& operator=(VirtualAnalogWrapper&&) = delete;
 
-    ~VirtualAnalogWrapper() override
+    ~VirtualAnalogWrapper()
     {
         close();
     }
@@ -106,56 +154,4 @@ class VirtualAnalogWrapper :
     yarp::os::BufferedPort<yarp::os::Bottle> mPortInputTorques;
 };
 
-
-class AnalogSubDevice
-{
-public:
-    AnalogSubDevice();
-   ~AnalogSubDevice();
-
-    bool attach(yarp::dev::PolyDriver *driver, const std::string &key);
-    void detach();
-
-    bool configure(int map0, int map1, const std::string &key);
-
-    bool isAttached(){ return mIsAttached; }
-
-    void setTorque(int joint,double torque)
-    {
-        if (joint < mMap0 || mMap1 < joint) {
-            return;
-        }
-
-        mTorques[joint-mMap0]=torque;
-    }
-
-    void resetTorque()
-    {
-        mTorques.zero();
-    }
-
-    void flushTorques()
-    {
-        if (mpSensor) {
-            mpSensor->updateVirtualAnalogSensorMeasure(mTorques);
-        }
-    }
-
-    const std::string& getKey(){ return mKey; }
-
-protected:
-    std::string mKey;
-
-    int mMap0,mMap1;
-
-    yarp::sig::Vector mTorques;
-
-    bool mIsConfigured;
-    bool mIsAttached;
-    double lastRecvMsg{0.0};
-    yarp::dev::PolyDriver            *mpDevice;
-    yarp::dev::IVirtualAnalogSensor  *mpSensor;
-};
-
-
 #endif // YARP_DEV_VIRTUALANALOGWRAPPER_VIRTUALANALOGWRAPPER_H

src/libYARP_os/src/yarp/os/Log.h

@@ -97,6 +97,12 @@ class YARP_os_API Log
         LogTypeReserved = 0xFF
     };
 
+    static std::mutex* getLogMutex()
+    {
+        static std::mutex m;
+        return &m;
+    }
+
     void trace(const char* msg, ...) const YARP_ATTRIBUTE_FORMAT(printf, 2, 3);
     void debug(const char* msg, ...) const YARP_ATTRIBUTE_FORMAT(printf, 2, 3);
     void info(const char* msg, ...) const YARP_ATTRIBUTE_FORMAT(printf, 2, 3);
@@ -191,11 +197,14 @@ class YARP_os_API Log
         return !flag.test_and_set();                           \
     }
 
+//The mutex definition was initially placed inside the lambda function below.
+//It was moved outside because it seems that the destruction of the
+//static mutex leads to a segfault on Windows platform when executing CI (LogTest.cpp).
 #define YARP_THROTTLE_CALLBACK(period)                   \
     [](){                                                \
         static double last = -period;                    \
-        static std::mutex mutex;                         \
-        std::lock_guard<std::mutex> lock(mutex);         \
+        std::mutex* mutex_throttle_callback = yarp::os::Log::getLogMutex(); \
+        std::lock_guard<std::mutex> lock(*mutex_throttle_callback);\
         double now = yarp::os::SystemClock::nowSystem(); \
         if (now >= last + period) {                      \
             last = now;                                  \