[wholebodyDynamics] Fix YARP and iDynTree related deprecations

robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.

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[wholebodyDynamics] Fix YARP and iDynTree related deprecations #58

Closed prashanthr05 closed 4 years ago

prashanthr05 commented 4 years ago

This PR addresses the following changes in wholebodydynamics device,

Handles yarp::os::Mutex deprecation with std::mutex and std::lock_guard
Handles yarp::dev::IControlMode2 deprecation with yarp::dev::IControlMode
Handles iDynTree/iCub/skinDynLibConversions deprecation with iDynTree/skinDynLibConversions
Additional changes related to deprecations in LockGuard and ConstString specifications in wholebodydynamics, genericSensorClient and baseEstimatorV1. Fixes #57

traversaro commented 4 years ago

The change seems ok, but there are some LockGuard.h inclusion that can also been removed?

prashanthr05 commented 4 years ago

The change seems ok, but there are some LockGuard.h inclusion that can also been removed?

I rebased over the latest devel and force pushed some additional changes related to LockGuard and ConstString specifications in wholebodydynamics, genericSensorClient and baseEstimatorV1.

fjandrad commented 4 years ago

The changes make sense. But could you add info about the deprecation? I imagine there were some Pr or commit or message in idyntree and/or yarp. That way it would be possible to double check you didn't miss anything else that needs deprecation or change.

prashanthr05 commented 4 years ago

The changes make sense. But could you add info about the deprecation? I imagine there were some Pr or commit or message in idyntree and/or yarp. That way it would be possible to double check you didn't miss anything else that needs deprecation or change.

Here I have only addressed the deprecation warnings that popped up when compiling the repository. I didn't actually look into a specific issue or commit. Also, I have addressed only a few from the source code. We also would have to handle the CMake deprecations introduced by these dependencies.

prashanthr05 commented 4 years ago

If we look at the Release notes of YARP,

The Mutex related classes are deprecated with YARP 3.3 (addressed)
There is a deprecation of Vocab in YARP 3.1 which was also showing up during compilation. But this was related to autogenerated idl files. I didnt know how to handle this.

Additionally some CMake deprecations were introduced in YARP 3.0 itself. (unaddressed)

prashanthr05 commented 4 years ago

I will proceed with the merge. Let's open a new issue to handle the deprecations from all the dependencies and connect it to the epic #41