Merge branch 'master' into fixCompilationWarnings

.github/workflows/macos-ustk.yml

@@ -13,7 +13,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [macos-11, macos-12]
+        os: [macos-12]
 
     steps:
     # https://github.com/marketplace/actions/cancel-workflow-action
@@ -34,7 +34,7 @@ jobs:
       run: system_profiler SPSoftwareDataType
 
     - name: Install dependencies
-      run: brew install libpng libjpeg libdc1394 opencv pcl librealsense zbar vtk fftw armadillo nlohmann-json
+      run: brew install libpng libjpeg-turbo libdc1394 opencv pcl librealsense zbar pkg-config nlohmann-json
 
     - name: Clone visp-images
       env:

.github/workflows/macos.yml

@@ -13,7 +13,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [macos-11, macos-12]
+        os: [macos-12]
 
     steps:
     # https://github.com/marketplace/actions/cancel-workflow-action
@@ -34,7 +34,7 @@ jobs:
       run: system_profiler SPSoftwareDataType
 
     - name: Install dependencies
-      run: brew install libpng libjpeg libdc1394 opencv pcl librealsense zbar pkg-config nlohmann-json
+      run: brew install libpng libjpeg-turbo libdc1394 opencv pcl librealsense zbar pkg-config nlohmann-json
 
     - name: Install java dependencies
       run: |
@@ -87,18 +87,7 @@ jobs:
         make -j$(sysctl -n hw.logicalcpu)
 
     - name: ViSP as 3rdparty with visp.pc and pkg-config
-      if: matrix.os != 'macOS-10.15'
       run: |
-        # With macOS 10.15 there is the following build error:
-        # /Applications/Xcode_12.4.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../include/c++/v1/cmath:317:9:
-        #   error: no member named 'signbit' in the global namespace
-        #   using ::signbit;
-        # also reported here https://stackoverflow.com/questions/58313047/cannot-compile-r-packages-with-c-code-after-updating-to-macos-catalina
-        # As suggested adding -isysroot build flag in VISPGenerateConfigScript.cmake around line 149 with
-        #   execute_process(COMMAND xcrun --show-sdk-path
-        #                   OUTPUT_VARIABLE SDK_PATH OUTPUT_STRIP_TRAILING_WHITESPACE)
-        #   list(APPEND _cxx_flags "-isysroot ${SDK_PATH}")
-        # doesn't fix the build issue. That's why here the test is only done for macOS 11.0
         cd ${HOME}/visp_sample
         export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig
         pkg-config --cflags visp
@@ -107,7 +96,6 @@ jobs:
         make -j$(sysctl -n hw.logicalcpu) -f Makefile.visp.pc clean
 
     - name: ViSP as 3rdparty with visp-config
-      if: matrix.os != 'macos-10.15'
       run: |
         cd ${HOME}/visp_sample
         export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/tmp/usr/local/lib/pkgconfig

.github/workflows/ubuntu-dep-src.yml

@@ -128,7 +128,14 @@ jobs:
         cmake .. -DCMAKE_INSTALL_PREFIX=$(pwd)/install
         cat ViSP-third-party.txt
 
-    - name: Compile
+    - name: Build visp-config script
+      working-directory: build
+      run: |
+        make -j$(nproc) developer_scripts
+        ./bin/visp-config --cflags
+        ./bin/visp-config --libs
+
+    - name: Build and install ViSP
       working-directory: build
       run: |
         make -j$(nproc) install

3rdparty/pololu/CMakeLists.txt

@@ -0,0 +1,45 @@
+project(${POLOLU_LIBRARY})
+
+set(POLOLU_MAJOR_VERSION 1 PARENT_SCOPE)
+set(POLOLU_MINOR_VERSION 0 PARENT_SCOPE)
+set(POLOLU_PATCH_VERSION 0 PARENT_SCOPE)
+
+vp_include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+
+set(lib_srcs src/RPMSerialInterface.cpp)
+set(lib_hdrs include/RPMSerialInterface.h)
+
+if(CMAKE_SYSTEM_NAME MATCHES "Windows")
+	list(APPEND lib_hdrs include/RPMSerialInterfaceWindows.h)
+	list(APPEND lib_srcs src/RPMSerialInterfaceWindows.cpp)
+elseif( CMAKE_SYSTEM_NAME MATCHES "Linux" OR CMAKE_SYSTEM_NAME MATCHES "Darwin")
+  # Could also be used on Windows with MinGW
+  list(APPEND lib_hdrs include/RPMSerialInterfacePOSIX.h)
+  list(APPEND lib_srcs src/RPMSerialInterfacePOSIX.cpp)
+else()
+	message("${PROJECT_NAME} is only available for Windows, Linux and Darwin")
+endif()
+
+add_library(${POLOLU_LIBRARY} STATIC ${lib_srcs} ${lib_hdrs})
+
+if(UNIX)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CV_ICC)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+  endif()
+endif()
+
+if(ENABLE_SOLUTION_FOLDERS)
+  set_target_properties(${POLOLU_LIBRARY} PROPERTIES FOLDER "3rdparty")
+endif()
+
+set_target_properties(${POLOLU_LIBRARY}
+  PROPERTIES OUTPUT_NAME ${POLOLU_LIBRARY}
+  DEBUG_POSTFIX "${VISP_DEBUG_POSTFIX}"
+  COMPILE_PDB_NAME ${POLOLU_LIBRARY}
+  COMPILE_PDB_NAME_DEBUG "${POLOLU_LIBRARY}${VISP_DEBUG_POSTFIX}"
+  ARCHIVE_OUTPUT_DIRECTORY ${VISP_3P_LIBRARY_OUTPUT_PATH}
+  )
+
+if(NOT BUILD_SHARED_LIBS)
+  vp_install_target(${POLOLU_LIBRARY} EXPORT VISPModules ARCHIVE DESTINATION ${VISP_3P_LIB_INSTALL_PATH} COMPONENT dev)
+endif()

3rdparty/pololu/LICENSE

@@ -0,0 +1,22 @@
+The MIT License (MIT)
+
+Copyright (c) 2015 Jacques Menuet
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+

3rdparty/pololu/README.ViSP

@@ -0,0 +1,6 @@
+Porting of the RapaPololuMaestro project: https://github.com/jbitoniau/RapaPololuMaestro commit d30b0af210
+
+2023-10-20:
+- Changes introduced to fix warnings
+- Remove the RPM namespace that makes the SerialInterface class nested and prevents it from being used as a private
+  class in vpServoPololuMaestro.h

3rdparty/pololu/README.md

@@ -0,0 +1,75 @@
+RapaPololuMaestro
+=================
+A cross-platform C++ library for controlling Pololu Maestro devices
+
+![alt text](docs/RapaPololuMaestro1.jpg?raw=true "Pololu Maestro driving a servo")
+![alt text](docs/RapaPololuMaestro2.jpg?raw=true "Pololu Maestro controlled by a Raspberry Pi")
+![alt text](docs/RapaPololuMaestroViewer.png?raw=true "Pololu Maestro Viewer")
+
+# Overview 
+RapaPololuMaestro (formerly [Polstro](https://code.google.com/p/polstro/)) is a lightweight cross-platform C++ library that provides access, in an object-oriented fashion, to one or more [Pololu Maestro servo-controller devices](http://www.pololu.com/docs/0J40) connected to the computer.
+
+The communication is based on the [Serial Interface protocol](http://www.pololu.com/docs/0J40/5.c Serial Interface), not the native USB interface (which offers more advanced functionalities).
+
+With RapaPololuMaestro it's possible to:
+
+* set/get the target position of any servo connected to the Maestro device (from 6 to 24 depending on the Maestro model)
+* set the speed and acceleration at which the Maestro changes the position.
+
+Note that by servo here we mean any RC component that is driven by a PWM signal. This can be for example an ESC (Electronic Speed Controller) that controls a brushless motor.
+
+The code is based on the [cross-platform C](http://www.pololu.com/docs/0J40/5.h.2) and [Windows examples](http://www.pololu.com/docs/0J40/5.h.2 Windows) provided by Pololu.
+
+# Example of use
+```cpp
+#include "RPMSerialInterface.h"
+
+int main( int argc, char** argv )
+{
+    // Create the interface
+    RPM::SerialInterface* serialInterface = RPM::SerialInterface::createSerialInterface( "COM4", 9600 );
+    if ( !serialInterface->isOpen() )
+        return -1;
+
+    // Set the value of channel 0 to 6000 quarter-of-microseconds (i.e. 1.5 milliseconds)
+    serialInterface->setTargetCP( 0, 6000 );
+
+    // Delete the interface
+    delete serialInterface;
+
+    return 0;
+}
+```
+
+# Compiling the code
+RapaPololuMaestro uses CMake 3 to create the build system corresponding to the platform. You need to have it installed on your system, please visit [CMake](http://www.cmake.org/) for more information.
+
+After downloading the source code and opening a console in the main source folder, creating the build system can be done like this:
+
+```
+mkdir _build_
+cd _build_
+cmake .. -DCMAKE_INSTALL_PREFIX=../_output_ 
+```
+
+You should then have a build system ready to use for your platform (for example, a Visual Studio solution on Windows, a makefile on Linux, etc...).
+
+The build process generates a static library, and two samples:
+* a command-line test program.
+* a GUI  program to control a Maestro interactively
+
+The GUI uses Qt as a dependency. If it can't be found on your system, the GUI program will simply be not built. 
+Either Qt4 or Qt5 can be used. You can specify one or the other using the RAPA_USE_QT5 CMake variable. For example, to compile using QT4:
+
+```
+cmake .. -DCMAKE_INSTALL_PREFIX=../_output_ -DRAPA_USE_QT5=OFF
+```
+
+If CMake doesn't find Qt automatically, you can point it to the appropriate folder. In this example we also compile for Visual Studio 12 2013 in 64 bits:
+
+```
+cmake .. -DCMAKE_INSTALL_PREFIX=../_output_ -DCMAKE_PREFIX_PATH=C:\SomePath\Qt\5.5\msvc2013_64 -G "Visual Studio 12 2013 Win64" 
+```
+
+Once the compilation done, you can deploy/install RapaPololuMaestro as a standalone SDK, by building the INSTALL target/project generated by CMake. This will copy the headers, libs and binaries into the directory designated by the standard CMAKE_INSTALL_PREFIX variable.
+

3rdparty/pololu/include/RPMSerialInterface.h

@@ -0,0 +1,130 @@
+/*
+   The MIT License (MIT) (http://opensource.org/licenses/MIT)
+
+   Copyright (c) 2015 Jacques Menuet
+
+   Permission is hereby granted, free of charge, to any person obtaining a copy
+   of this software and associated documentation files (the "Software"), to deal
+   in the Software without restriction, including without limitation the rights
+   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+   copies of the Software, and to permit persons to whom the Software is
+   furnished to do so, subject to the following conditions:
+
+   The above copyright notice and this permission notice shall be included in all
+   copies or substantial portions of the Software.
+
+   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+   SOFTWARE.
+*/
+#pragma once
+
+#include <string>
+
+/*
+  SerialInterface
+
+  The SerialInterface implements the Pololu Maestro serial communication protocol.
+  See http://www.pololu.com/docs/0J40/5.e for the details of the commands available.
+
+  The SerialInterface methods of the SerialInterface come into different flavours,
+  each uses a different protocol:
+  - Compact protocol (CP)
+  - Pololu protocol (PP)
+  - Mini-SSC protocol (MSSCP)
+  See http://www.pololu.com/docs/0J40/5.c for more information.
+
+  Note: add the ability to specify min/max target value at construction time rather
+  than having it hard-coded.
+*/
+class RPMSerialInterface
+{
+public:
+  // Create a concrete platform-specific SerialInterface.
+  // Return NULL if the interface couldn't be created and set the optional error message.
+  static RPMSerialInterface *createSerialInterface(const std::string &portName, unsigned int baudRate, std::string *errorMessage = NULL);
+
+  // Return the last error message. The message is set when a methods encounters a problem and returns false.
+  // It is automatically cleared at the beginning of each method.
+  const std::string &getErrorMessage() const { return mErrorMessage; }
+
+  // Destructor
+  virtual ~RPMSerialInterface();
+
+  // Indicates whether the serial port has been successfully open at construction
+  virtual bool isOpen() const = 0;
+
+  // Return the minimum valid channel value in 0.25 microsecond units
+  static unsigned short getMinChannelValue() { return mMinChannelValue; }
+
+  // Return the maximum valid channel value in 0.25 microsecond units
+  static unsigned short getMaxChannelValue() { return mMaxChannelValue; }
+
+  // Set the target position of a channel to a given value in 0.25 microsecond units
+  bool setTargetCP(unsigned char channelNumber, unsigned short target);
+  bool setTargetPP(unsigned char deviceNumber, unsigned char channelNumber, unsigned short target);
+
+  // In the Mini-SSC version of this method, the normalizedTarget value is between 0 and 255.
+  // The value is converted to an actual 0.25 microsecond unit value based on pre-configured
+  // settings (neutral and range parameters) stored on the Pololu Maestro device itself.
+  // This is done using a tool such as the Maestro Control Center. Calibration can be therefore
+  // done externally quite easily.
+  // Additionally, the miniSCC channel number allows access to channels of chained devices.
+  bool setTargetMSSCP(unsigned char miniSCCChannelNumber, unsigned char normalizedTarget);
+
+  // On Mini Maestro 12, 18 and 24 only, so not supported here (as I only have a Mini Maestro 6)
+  // bool setMultipleTargets(...)
+
+  // Set the speed limit of a channel in units of (0.25 microsecond)/(10ms)
+  bool setSpeedCP(unsigned char channelNumber, unsigned short speed);
+  bool setSpeedPP(unsigned char deviceNumber, unsigned char channelNumber, unsigned short speed);
+
+  // Set the acceleration limit of a channel in units of (0.25 microsecond)/(10ms)/(80ms)
+  bool setAccelerationCP(unsigned char channelNumber, unsigned char acceleration);
+  bool setAccelerationPP(unsigned char deviceNumber, unsigned char channelNumber, unsigned char acceleration);
+
+  // Return the position of a channel.
+  // For a servo channel, the position is the current pulse width in 0.25 microsecond units
+  // For a digital output channel, a position less than 6000 means the line is low, and high when above 6000
+  // For an input channel, the position represents the voltage measured on the channel.
+  bool getPositionCP(unsigned char channelNumber, unsigned short &position);
+  bool getPositionPP(unsigned char deviceNumber, unsigned char channelNumber, unsigned short &position);
+
+  // Indicate whether the servo outputs have reached their targets or are still moving.
+  bool getMovingStateCP(bool &servosAreMoving);
+  bool getMovingStatePP(unsigned char deviceNumber, bool &servosAreMoving);
+
+  // The return the error detected by the Pololu Maestro. This automatically clears the error flag.
+  bool getErrorsCP(unsigned short &error);
+  bool getErrorsPP(unsigned char deviceNumber, unsigned short &error);
+
+  // Request the Pololu Maestro to "go home".
+  // Going home sets the channels to their startup/error state.
+  // This state is defined on a per-channel. It can either be:
+  // - ignore: the value is unchanged when we do a "go home". PWM signal is continues to be generated
+  // - go to: the channel is set to the specified value. Again PWM signal is generated
+  // - off: the channel is turned off. There's no more PWM signal generated for the channel
+  bool goHomeCP();
+  bool goHomePP(unsigned char deviceNumber);
+
+protected:
+  RPMSerialInterface();
+  void clearErrorMessage();
+  void setErrorMessage(const std::string &message);
+
+  bool checkPortIsOpen() const;                             // And update error message if not
+  bool checkValidTargetValue(unsigned short target) const;  // Same here
+
+private:
+  static const unsigned short mMinChannelValue = 3968;
+  static const unsigned short mMaxChannelValue = 8000;
+
+  virtual bool writeBytes(const unsigned char *data, unsigned int dataSizeInBytes) = 0;
+  virtual bool readBytes(unsigned char *data, unsigned int dataSizeInBytes) = 0;
+
+  std::string mErrorMessage;
+};