Merge pull request #580 from ami-iit/GiulioRomualdi-patch-1

Use std::int64_t instead of long in TextLoggingEntry class

Author: GiulioRomualdi

.github/workflows/ci.yml

@@ -26,7 +26,7 @@ env:
   tomlplusplus_TAG: v2.5.0
   icub_models_TAG: v1.23.3
   UnicyclePlanner_TAG: d3f6c80afe21a9958da769c8dd8a2bbfee5ea922
-  telemetry_TAG: v0.5.1
+  telemetry_TAG: v1.2.0
 
   # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg
   VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg

.github/workflows/conda-forge-ci.yml

@@ -37,7 +37,7 @@ jobs:
         # Compilation related dependencies
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
-        mamba install "idyntree>=8.0.0" "yarp>=3.5.0" libmatio libmatio-cpp \
+        mamba install "idyntree>=8.0.0" "yarp>=3.5.0" libmatio libmatio-cpp librobometry \
                       liblie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog "catch2=2" \
                       nlohmann_json manif manifpy pybind11 numpy pytest scipy opencv pcl \
                       tomlplusplus libunicycle-footstep-planner "icub-models>=1.23.4" \

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project are documented in this file.
 ### Changed
 
 ### Fix
+- Fix the compilation of the `YarpRobotLoggerDevice` in `Windows` and `macOS` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/580)
 
 ## [0.11.0] - 2022-12-17
 ### Added

devices/YarpRobotLoggerDevice/include/BipedalLocomotion/YarpTextLoggingUtilities.h

@@ -7,6 +7,7 @@
 #define BIPEDAL_LOCOMOTION_FRAMEWORK_YARP_ROBOT_LOGGER_DEVICE_YARP_TEXT_LOGGING_UTILITIES_H
 
 #include <string>
+#include <cstdint>
 
 #include <yarp/os/Bottle.h>
 
@@ -29,7 +30,7 @@ struct TextLoggingEntry
     std::string cmd;
     std::string args;
     int pid{0};
-    long thread_id{0};
+    std::int64_t thread_id{0};
     std::string component;
     std::string id;
     double systemtime{0.0};

devices/YarpRobotLoggerDevice/src/YarpRobotLoggerDevice.cpp

@@ -554,10 +554,21 @@ bool YarpRobotLoggerDevice::attachAll(const yarp::dev::PolyDriverList& poly)
 
         if (ok)
         {
-            for (auto& [cameraName, writer] : m_videoWriters)
+            // using C++17 it is not possible to use a structured binding in the for loop, i.e. for
+            // (auto& [key, val] : m_videoWriters) since Lambda implicit capture fails with variable
+            // declared from structured binding.
+            // As explained in http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2017/p0588r1.html
+            // If a lambda-expression [...] captures a structured binding (explicitly or
+            // implicitly), the program is ill-formed.
+            // you can find further information here:
+            // https://stackoverflow.com/questions/46114214/lambda-implicit-capture-fails-with-variable-declared-from-structured-binding
+            // Note if one day we will support c++20 we can use structured binding see
+            // https://en.cppreference.com/w/cpp/language/structured_binding
+            for (auto iter = m_videoWriters.begin(); iter != m_videoWriters.end(); ++iter)
             {
                 // start a separate the thread for each camera
-                writer.videoThread = std::thread([&] { this->recordVideo(cameraName, writer); });
+                iter->second.videoThread
+                    = std::thread([this, iter] { this->recordVideo(iter->first, iter->second); });
             }
         }
     }