Compare revisions

Guilhem Saurel · Guilhem Saurel · Guilhem Saurel · Guilhem Saurel · Guilhem Saurel · Guilhem Saurel
--- a/.clang-format
+++ b/.clang-format
---
-Language:        Cpp
-# BasedOnStyle:  Google
-AccessModifierOffset: -1
-AlignAfterOpenBracket: Align
-AlignConsecutiveMacros: None
-AlignConsecutiveAssignments: None
-AlignConsecutiveBitFields: None
-AlignConsecutiveDeclarations: None
-AlignEscapedNewlines: Left
-AlignOperands:   Align
-AlignTrailingComments: true
-AllowAllArgumentsOnNextLine: true
-AllowAllConstructorInitializersOnNextLine: true
-AllowAllParametersOfDeclarationOnNextLine: true
-AllowShortEnumsOnASingleLine: true
-AllowShortBlocksOnASingleLine: Never
-AllowShortCaseLabelsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: All
-AllowShortLambdasOnASingleLine: All
-AllowShortIfStatementsOnASingleLine: WithoutElse
-AllowShortLoopsOnASingleLine: true
-AlwaysBreakAfterDefinitionReturnType: None
-AlwaysBreakAfterReturnType: None
-AlwaysBreakBeforeMultilineStrings: true
-AlwaysBreakTemplateDeclarations: Yes
-AttributeMacros:
-  - __capability
-BinPackArguments: true
-BinPackParameters: true
-BraceWrapping:
-  AfterCaseLabel:  false
-  AfterClass:      false
-  AfterControlStatement: Never
-  AfterEnum:       false
-  AfterFunction:   false
-  AfterNamespace:  false
-  AfterObjCDeclaration: false
-  AfterStruct:     false
-  AfterUnion:      false
-  AfterExternBlock: false
-  BeforeCatch:     false
-  BeforeElse:      false
-  BeforeLambdaBody: false
-  BeforeWhile:     false
-  IndentBraces:    false
-  SplitEmptyFunction: true
-  SplitEmptyRecord: true
-  SplitEmptyNamespace: true
-BreakBeforeBinaryOperators: None
-BreakBeforeConceptDeclarations: true
-BreakBeforeBraces: Attach
-BreakBeforeInheritanceComma: false
-BreakInheritanceList: BeforeColon
-BreakBeforeTernaryOperators: true
-BreakConstructorInitializersBeforeComma: false
-BreakConstructorInitializers: BeforeColon
-BreakAfterJavaFieldAnnotations: false
-BreakStringLiterals: true
-ColumnLimit:     80
-CommentPragmas:  '^ IWYU pragma:'
-CompactNamespaces: false
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
-ConstructorInitializerIndentWidth: 4
-ContinuationIndentWidth: 4
-Cpp11BracedListStyle: true
-DeriveLineEnding: true
-DerivePointerAlignment: true
-DisableFormat:   false
-EmptyLineBeforeAccessModifier: LogicalBlock
-ExperimentalAutoDetectBinPacking: false
-FixNamespaceComments: true
-ForEachMacros:
-  - foreach
-  - Q_FOREACH
-  - BOOST_FOREACH
-StatementAttributeLikeMacros:
-  - Q_EMIT
-IncludeBlocks:   Regroup
-IncludeCategories:
-  - Regex:           '^<pinocchio/fwd\.hpp>'
-    Priority:        1
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '^<ext/.*\.h>'
-    Priority:        3
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '^<.*\.h>'
-    Priority:        2
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '^<.*'
-    Priority:        3
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '.*'
-    Priority:        4
-    SortPriority:    0
-    CaseSensitive:   false
-IncludeIsMainRegex: '([-_](test|unittest))?$'
-IncludeIsMainSourceRegex: ''
-IndentCaseLabels: true
-IndentCaseBlocks: false
-IndentGotoLabels: true
-IndentPPDirectives: None
-IndentExternBlock: AfterExternBlock
-IndentRequires:  false
-IndentWidth:     2
-IndentWrappedFunctionNames: false
-InsertTrailingCommas: None
-JavaScriptQuotes: Leave
-JavaScriptWrapImports: true
-KeepEmptyLinesAtTheStartOfBlocks: false
-MacroBlockBegin: ''
-MacroBlockEnd:   ''
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCBinPackProtocolList: Never
-ObjCBlockIndentWidth: 2
-ObjCBreakBeforeNestedBlockParam: true
-ObjCSpaceAfterProperty: false
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakAssignment: 2
-PenaltyBreakBeforeFirstCallParameter: 1
-PenaltyBreakComment: 300
-PenaltyBreakFirstLessLess: 120
-PenaltyBreakString: 1000
-PenaltyBreakTemplateDeclaration: 10
-PenaltyExcessCharacter: 1000000
-PenaltyReturnTypeOnItsOwnLine: 200
-PenaltyIndentedWhitespace: 0
-PointerAlignment: Left
-RawStringFormats:
-  - Language:        Cpp
-    Delimiters:
-      - cc
-      - CC
-      - cpp
-      - Cpp
-      - CPP
-      - 'c++'
-      - 'C++'
-    CanonicalDelimiter: ''
-    BasedOnStyle:    google
-  - Language:        TextProto
-    Delimiters:
-      - pb
-      - PB
-      - proto
-      - PROTO
-    EnclosingFunctions:
-      - EqualsProto
-      - EquivToProto
-      - PARSE_PARTIAL_TEXT_PROTO
-      - PARSE_TEST_PROTO
-      - PARSE_TEXT_PROTO
-      - ParseTextOrDie
-      - ParseTextProtoOrDie
-      - ParseTestProto
-      - ParsePartialTestProto
-    CanonicalDelimiter: ''
-    BasedOnStyle:    google
-ReflowComments:  true
-SortIncludes:    true
-SortJavaStaticImport: Before
-SortUsingDeclarations: true
-SpaceAfterCStyleCast: false
-SpaceAfterLogicalNot: false
-SpaceAfterTemplateKeyword: true
-SpaceBeforeAssignmentOperators: true
-SpaceBeforeCaseColon: false
-SpaceBeforeCpp11BracedList: false
-SpaceBeforeCtorInitializerColon: true
-SpaceBeforeInheritanceColon: true
-SpaceBeforeParens: ControlStatements
-SpaceAroundPointerQualifiers: Default
-SpaceBeforeRangeBasedForLoopColon: true
-SpaceInEmptyBlock: false
-SpaceInEmptyParentheses: false
-SpacesBeforeTrailingComments: 2
-SpacesInAngles:  false
-SpacesInConditionalStatement: false
-SpacesInContainerLiterals: true
-SpacesInCStyleCastParentheses: false
-SpacesInParentheses: false
-SpacesInSquareBrackets: false
-SpaceBeforeSquareBrackets: false
-BitFieldColonSpacing: Both
-Standard:        Auto
-StatementMacros:
-  - Q_UNUSED
-  - QT_REQUIRE_VERSION
-TabWidth:        8
-UseCRLF:         false
-UseTab:          Never
-WhitespaceSensitiveMacros:
-  - STRINGIZE
-  - PP_STRINGIZE
-  - BOOST_PP_STRINGIZE
-  - NS_SWIFT_NAME
-  - CF_SWIFT_NAME
-...
--- a/.git-blame-ignore-revs
+++ b/.git-blame-ignore-revs
+# pre-commit run -a (Guilhem Saurel, 2022-07-27)
+e9a222fb0a1f236e534e21c66cb623fd8d25b8d6
+
+# pre-commit: details (Guilhem Saurel, 2022-04-14)
+1c0f3cc1048a8b2a8206510a51a237b2f1e68a34
+
+# pre-commit run -a (Guilhem Saurel, 2022-03-30)
+0c1e6fb50735d4d6cc93e15d3bef202392d47c5b
+
+# clang format defaults + pre-commit (Guilhem Saurel, 2022-03-30)
+b6fc5d81e645a84fa8f4d656371adfb27c2b2b23
+
+# [value] Clang format. (Olivier Stasse, 2022-01-09)
+b852eef0d56de04ae91a43b1ddbd837ec69ddbe6
+
+# linters: fix clang-check-12 (Guilhem Saurel, 2021-09-14)
+ca1b2fc51540b4fcb2cd0b4fccaa33b02738af41
+
+# reformat for clang-format-12 (Guilhem Saurel, 2021-09-07)
+ed5899076b7b11c16d9517295e3826dd9b9d80d2
+
+# format (Guilhem Saurel, 2020-11-13)
+c54add29f80f6bcd1d05ca741d472491cf74c180
+
+# format (Guilhem Saurel, 2020-07-22)
+f4def3bfeaf0f9c9a6d5c5eb01c3a3b2fbb04b2f
+
+# clang format. (Olivier Stasse, 2020-02-03)
+70864112c87365af645f0404f881edf36c1ec734
+
+# [clang] Update format. (Olivier Stasse, 2019-08-26)
+384b2078e4962d762db4293bf3396be17df4e5c7
+
+# [clang-format] Comply to Google style. (Olivier Stasse, 2019-08-20)
+df48199dd436ba8341ae93c7b1f87eb30d0f457a
--- a/.gitignore
+++ b/.gitignore
 _build*
-*~
\ No newline at end of file
+.~
+compile_commands.json
--- a/.gitmodules
+++ b/.gitmodules
 [submodule "cmake"]
 	path = cmake
-	url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
-[submodule ".travis"]
-	path = .travis
-	url = git://github.com/jrl-umi3218/jrl-travis.git
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
+ci:
+    autoupdate_branch: 'devel'
+repos:
+-   repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
+    hooks:
+    -   id: clang-format
+        args: [--style=Google]
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.3.0
+    hooks:
+    -   id: check-added-large-files
+    -   id: check-ast
+    -   id: check-executables-have-shebangs
+    -   id: check-json
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-toml
+    -   id: check-yaml
+    -   id: debug-statements
+    -   id: destroyed-symlinks
+    -   id: detect-private-key
+    -   id: end-of-file-fixer
+    -   id: fix-byte-order-marker
+    -   id: mixed-line-ending
+    -   id: trailing-whitespace
+-   repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+    - id: cmake-format
--- a/.travis @ cbc92f81
+++ b/.travis @ cbc92f81
-Subproject commit cbc92f81bdd0dcfd7fc1eae56801d8111267937d
--- a/.travis.yml
+++ b/.travis.yml
-git:
-  depth: false
-language: cpp
-sudo: required
-compiler:
-  - gcc
-  - clang
-env:
-  global:
-  - DEBSIGN_KEYID=5AE5CD75
-  - secure: "lEJYxth3fNsmvNS7Ern9+kEpHk4X3Tjo51GBUQBNL6g+YyZJKm4xwBEfwK+sewlmhY3oLUds+5H/2zE27q517kIcpP2Tlp4sRfooJfnBS7YYyF+1boxbvOXrZ2aqev3rzkyvKKMBg0UJTvAiSf7JgVCkMv33GeAX3/I+djEh23U="
-  - secure: "QTw5QQDaeQWBz6APcUCyl9P9UPI/T3j1++9o9fPxygS9R/7bQYNCrSH++owcAVCJgUI5oY3RmnYk/PjVygOLM0vbFqB2mMySibAhO/U3pSLtZ/HyPjqI9fX0TV/Cf7ji7soeXKk8p6kI2InMILpODLBaLdfm/jgCdAfecr5sGQI="
-  - secure: "JEcGQsUgEND64cAGVEHSxg8j7SlwofuYtLamANszs/h8FGYZ82rEjmG7r2zqSfBj/i1WsnSbTSsh8WJuXzvV8fw8enkcLEuJG9scQJzuzY8hnLe81o1fhEkclML0SLkLQ2Fu6rIqlKKeYwmJFFhSIj69ESRIkDhkjA1OrV7szzc="
-  - APT_DEPENDENCIES="doxygen libboost-dev libboost-test-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libboost-program-options-dev libeigen3-dev"
-  - PPA_URI="stack-of-tasks/snapshot"
-  - NSIQCPPSTYLE_FILEFILTERPATH=cmake/filefilter.txt
-notifications:
-  hipchat:
-    rooms:
-      - secure: "SP8KX6gPzBT0BCpcL3ybK4Cgx7a7rmK3Hv/fD2lIf/RUdTwtzLh/J/l9xSYuMZisLe1tM+12vfP7r6t1RNdXrB7pSpYvFRNIWmyfBC7KnUFVn5rwxUnDPhKY3D/XaJ1cycbBJqJdUjYjFKCGEm4x6cpRRN61Ii66RAUvm1h9aHQ="
-  email:
-  - hpp-source@laas.fr
-branches:
-  only:
-  - master
-  - devel
-script: ./travis_custom/build_custom
-after_success: ./.travis/run after_success
-after_failure: ./.travis/run after_failure
-before_install: ./travis_custom/custom_before_install
-matrix:
-  allow_failures:
-    - compiler: clang
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
-CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
+cmake_minimum_required(VERSION 3.1)

 # Project properties
-SET(PROJECT_ORG stack-of-tasks)
-SET(PROJECT_NAME dynamic-graph)
-SET(PROJECT_DESCRIPTION "Dynamic graph library")
-SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
+set(PROJECT_ORG stack-of-tasks)
+set(PROJECT_NAME dynamic-graph)
+set(PROJECT_DESCRIPTION "Dynamic graph library")
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")

 # Project options
-OPTION(SUFFIX_SO_VERSION "Suffix library name with its version" ON)
+option(SUFFIX_SO_VERSION "Suffix library name with its version" ON)

 # Project configuration
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(CUSTOM_HEADER_DIR ${PROJECT_NAME})
-SET(CXX_DISABLE_WERROR TRUE)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(CUSTOM_HEADER_DIR ${PROJECT_NAME})
+set(CXX_DISABLE_WERROR TRUE)

 # Doxygen setup
-SET(DOXYGEN_USE_MATHJAX YES)
-SET(DOXYGEN_USE_TEMPLATE_CSS YES)
+set(DOXYGEN_USE_MATHJAX YES)
+set(DOXYGEN_USE_TEMPLATE_CSS YES)

 # JRL-cmakemodule setup
-INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/boost.cmake)
+include(cmake/base.cmake)
+include(cmake/boost.cmake)

 # Project definition
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
-CHECK_MINIMAL_CXX_STANDARD(14 ENFORCE)
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
+check_minimal_cxx_standard(14 ENFORCE)

-INCLUDE(cmake/pthread.cmake)  # needs to be included after the CXX definition
+include(cmake/pthread.cmake) # needs to be included after the CXX definition

 # Project dependencies
-IF(BUILD_TESTING)
-  FIND_PACKAGE(Boost REQUIRED COMPONENTS unit_test_framework)
-ENDIF()
-ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS serialization system thread)
-ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED)
-SEARCH_FOR_PTHREAD()
-
-IF(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
+if(BUILD_TESTING)
+  find_package(Boost REQUIRED COMPONENTS unit_test_framework)
+endif()
+add_project_dependency(Boost REQUIRED COMPONENTS serialization system thread)
+add_project_dependency(Eigen3 REQUIRED)
+search_for_pthread()
+
+if(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
  # Silence a warning about a deprecated use of boost bind by boost >= 1.73
  # without dropping support for boost < 1.73
-  ADD_DEFINITIONS(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
-ENDIF()
+  add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
+endif()

 # Add configuration headers for plug-ins.
-GENERATE_CONFIGURATION_HEADER(
-  ${HEADER_DIR} config-tracer.hh DG_TRACER tracer_EXPORTS)
-GENERATE_CONFIGURATION_HEADER(
-  ${HEADER_DIR}
-  config-tracer-real-time.hh DG_TRACERREALTIME tracer_real_time_EXPORTS)
+generate_configuration_header(${HEADER_DIR} config-tracer.hh DG_TRACER
+                              tracer_EXPORTS)
+generate_configuration_header(${HEADER_DIR} config-tracer-real-time.hh
+                              DG_TRACERREALTIME tracer_real_time_EXPORTS)

 # Verbosity level
-IF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
-  ADD_DEFINITIONS(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
-ENDIF(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
+if(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))
+  add_definitions(-DVP_DEBUG_MODE=${CMAKE_VERBOSITY_LEVEL} -DVP_DEBUG)
+endif(NOT (\"${CMAKE_VERBOSITY_LEVEL}\" STREQUAL \"\"))

 # Main Library
-SET(${PROJECT_NAME}_HEADERS
-  include/${CUSTOM_HEADER_DIR}/fwd.hh
-  include/${CUSTOM_HEADER_DIR}/debug.h
-  include/${CUSTOM_HEADER_DIR}/real-time-logger.h
-  include/${CUSTOM_HEADER_DIR}/real-time-logger-def.h
-
-  include/${CUSTOM_HEADER_DIR}/dynamic-graph-api.h
-
-  include/${CUSTOM_HEADER_DIR}/entity.h
-  include/${CUSTOM_HEADER_DIR}/factory.h
-  include/${CUSTOM_HEADER_DIR}/pool.h
-
-  include/${CUSTOM_HEADER_DIR}/exception-abstract.h
-  include/${CUSTOM_HEADER_DIR}/exception-factory.h
-  include/${CUSTOM_HEADER_DIR}/exception-signal.h
-  include/${CUSTOM_HEADER_DIR}/exception-traces.h
-
-  include/${CUSTOM_HEADER_DIR}/signal.h
-  include/${CUSTOM_HEADER_DIR}/signal-array.h
-  include/${CUSTOM_HEADER_DIR}/signal-base.h
-  include/${CUSTOM_HEADER_DIR}/signal-ptr.h
-  include/${CUSTOM_HEADER_DIR}/signal-time-dependent.h
-  include/${CUSTOM_HEADER_DIR}/signal-ptr.t.cpp
-  include/${CUSTOM_HEADER_DIR}/signal.t.cpp
-  include/${CUSTOM_HEADER_DIR}/time-dependency.h
-  include/${CUSTOM_HEADER_DIR}/time-dependency.t.cpp
-  # Kept for a brittle backward compatiblity.
-  include/${CUSTOM_HEADER_DIR}/signal-caster.h
-  include/${CUSTOM_HEADER_DIR}/signal-cast-helper.h
-  include/${CUSTOM_HEADER_DIR}/all-signals.h
-  include/${CUSTOM_HEADER_DIR}/signal-helper.h
-  include/${CUSTOM_HEADER_DIR}/entity-helper.h
-
-  include/${CUSTOM_HEADER_DIR}/tracer.h
-  include/${CUSTOM_HEADER_DIR}/tracer-real-time.h
-
-  include/${CUSTOM_HEADER_DIR}/command.h
-  include/${CUSTOM_HEADER_DIR}/eigen-io.h
-  include/${CUSTOM_HEADER_DIR}/linear-algebra.h
-  include/${CUSTOM_HEADER_DIR}/value.h
-
-  include/${CUSTOM_HEADER_DIR}/command-setter.h
-  include/${CUSTOM_HEADER_DIR}/command-setter.t.cpp
-  include/${CUSTOM_HEADER_DIR}/command-getter.h
-  include/${CUSTOM_HEADER_DIR}/command-getter.t.cpp
-  include/${CUSTOM_HEADER_DIR}/command-direct-getter.h
-  include/${CUSTOM_HEADER_DIR}/command-direct-setter.h
-  include/${CUSTOM_HEADER_DIR}/command-bind.h
-  include/${CUSTOM_HEADER_DIR}/all-commands.h
-
-  include/${CUSTOM_HEADER_DIR}/logger.h
-  )
-
-SET(${PROJECT_NAME}_SOURCES
-  src/debug/debug.cpp
-  src/debug/real-time-logger.cpp
-  src/debug/logger.cpp
-
-  src/dgraph/entity.cpp
-  src/dgraph/factory.cpp
-  src/dgraph/pool.cpp
-
-  src/exception/exception-abstract.cpp
-  src/exception/exception-factory.cpp
-  src/exception/exception-signal.cpp
-  src/exception/exception-traces.cpp
-
-  src/mt/process-list.cpp
-
-  src/signal/signal-array.cpp
-
-  src/command/value.cpp
-  src/command/command.cpp
-  )
-
-ADD_LIBRARY(${PROJECT_NAME} SHARED
-  ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIR})
-TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC Boost::serialization Boost::system Boost::thread)
-
-IF(UNIX)
-  TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC ${CMAKE_DL_LIBS} pthread)
-ENDIF(UNIX)
-
-IF(SUFFIX_SO_VERSION)
-  SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
-ENDIF(SUFFIX_SO_VERSION)
-
-INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
-
-
-SET(DYNAMIC_GRAPH_PLUGINDIR "lib/${PROJECT_NAME}-plugins")
-SET(PACKAGE_EXTRA_MACROS "set(DYNAMIC_GRAPH_PLUGINDIR ${DYNAMIC_GRAPH_PLUGINDIR})")
-SET(PKG_CONFIG_EXTRA "plugindir=${DYNAMIC_GRAPH_PLUGINDIR}")
-
-ADD_SUBDIRECTORY(src)
-IF(BUILD_TESTING)
-  ADD_SUBDIRECTORY(tests)
-ENDIF(BUILD_TESTING)
-
-PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
+set(${PROJECT_NAME}_HEADERS
+    include/${CUSTOM_HEADER_DIR}/fwd.hh
+    include/${CUSTOM_HEADER_DIR}/debug.h
+    include/${CUSTOM_HEADER_DIR}/real-time-logger.h
+    include/${CUSTOM_HEADER_DIR}/real-time-logger-def.h
+    include/${CUSTOM_HEADER_DIR}/dynamic-graph-api.h
+    include/${CUSTOM_HEADER_DIR}/entity.h
+    include/${CUSTOM_HEADER_DIR}/factory.h
+    include/${CUSTOM_HEADER_DIR}/pool.h
+    include/${CUSTOM_HEADER_DIR}/exception-abstract.h
+    include/${CUSTOM_HEADER_DIR}/exception-factory.h
+    include/${CUSTOM_HEADER_DIR}/exception-signal.h
+    include/${CUSTOM_HEADER_DIR}/exception-traces.h
+    include/${CUSTOM_HEADER_DIR}/signal.h
+    include/${CUSTOM_HEADER_DIR}/signal-array.h
+    include/${CUSTOM_HEADER_DIR}/signal-base.h
+    include/${CUSTOM_HEADER_DIR}/signal-ptr.h
+    include/${CUSTOM_HEADER_DIR}/signal-time-dependent.h
+    include/${CUSTOM_HEADER_DIR}/signal-ptr.t.cpp
+    include/${CUSTOM_HEADER_DIR}/signal.t.cpp
+    include/${CUSTOM_HEADER_DIR}/time-dependency.h
+    include/${CUSTOM_HEADER_DIR}/time-dependency.t.cpp
+    # Kept for a brittle backward compatiblity.
+    include/${CUSTOM_HEADER_DIR}/signal-caster.h
+    include/${CUSTOM_HEADER_DIR}/signal-cast-helper.h
+    include/${CUSTOM_HEADER_DIR}/all-signals.h
+    include/${CUSTOM_HEADER_DIR}/signal-helper.h
+    include/${CUSTOM_HEADER_DIR}/entity-helper.h
+    include/${CUSTOM_HEADER_DIR}/tracer.h
+    include/${CUSTOM_HEADER_DIR}/tracer-real-time.h
+    include/${CUSTOM_HEADER_DIR}/command.h
+    include/${CUSTOM_HEADER_DIR}/eigen-io.h
+    include/${CUSTOM_HEADER_DIR}/linear-algebra.h
+    include/${CUSTOM_HEADER_DIR}/value.h
+    include/${CUSTOM_HEADER_DIR}/command-setter.h
+    include/${CUSTOM_HEADER_DIR}/command-setter.t.cpp
+    include/${CUSTOM_HEADER_DIR}/command-getter.h
+    include/${CUSTOM_HEADER_DIR}/command-getter.t.cpp
+    include/${CUSTOM_HEADER_DIR}/command-direct-getter.h
+    include/${CUSTOM_HEADER_DIR}/command-direct-setter.h
+    include/${CUSTOM_HEADER_DIR}/command-bind.h
+    include/${CUSTOM_HEADER_DIR}/all-commands.h
+    include/${CUSTOM_HEADER_DIR}/logger.h)
+
+set(${PROJECT_NAME}_SOURCES
+    src/debug/debug.cpp
+    src/debug/real-time-logger.cpp
+    src/debug/logger.cpp
+    src/dgraph/entity.cpp
+    src/dgraph/factory.cpp
+    src/dgraph/pool.cpp
+    src/exception/exception-abstract.cpp
+    src/exception/exception-factory.cpp
+    src/exception/exception-signal.cpp
+    src/exception/exception-traces.cpp
+    src/mt/process-list.cpp
+    src/signal/signal-array.cpp
+    src/command/value.cpp
+    src/command/command.cpp)
+
+add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
+                                   ${${PROJECT_NAME}_HEADERS})
+modernize_target_link_libraries(
+  ${PROJECT_NAME}
+  SCOPE
+  PUBLIC
+  TARGETS
+  Eigen3::Eigen
+  INCLUDE_DIRS
+  ${EIGEN3_INCLUDE_DIR})
+target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
+target_link_libraries(${PROJECT_NAME} PUBLIC Boost::serialization Boost::system
+                                             Boost::thread)
+
+if(UNIX)
+  target_link_libraries(${PROJECT_NAME} PUBLIC ${CMAKE_DL_LIBS} pthread)
+endif(UNIX)
+
+if(SUFFIX_SO_VERSION)
+  set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
+endif(SUFFIX_SO_VERSION)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${TARGETS_EXPORT_NAME}
+  DESTINATION lib)
+
+set(DYNAMIC_GRAPH_PLUGINDIR "lib/${PROJECT_NAME}-plugins")
+set(PACKAGE_EXTRA_MACROS
+    "set(DYNAMIC_GRAPH_PLUGINDIR ${DYNAMIC_GRAPH_PLUGINDIR})")
+set(PKG_CONFIG_EXTRA "plugindir=${DYNAMIC_GRAPH_PLUGINDIR}")
+
+add_subdirectory(src)
+if(BUILD_TESTING)
+  add_subdirectory(tests)
+endif(BUILD_TESTING)
+
+pkg_config_append_libs(${PROJECT_NAME})
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
--- a/NEWS
+++ b/NEWS
@@ -129,4 +129,3 @@ stasse (3):
      Reinforce the dependant->dependent policy.     Merge the florent branch.     Makes the test_depend.cpp test works.
      Reinforce the dependant->dependent policy.
      Adding documentation to cmdPlug.
-
--- a/README.md
+++ b/README.md
@@ -4,6 +4,7 @@ dynamic-graph
 [![Building status](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph/commits/master)
 [![Coverage report](https://gitlab.laas.fr/stack-of-tasks/dynamic-graph/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/stack-of-tasks/doc/stack-of-tasks/dynamic-graph/master/coverage/)
 [![License](https://img.shields.io/badge/License-BSD%202--Clause-green.svg)](https://opensource.org/licenses/BSD-2-Clause)
+[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/dynamic-graph/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/dynamic-graph)

 This software provides an efficient way to modelize a C++ data-flow.


--- a/cmake @ 47c0cbf0
+++ b/cmake @ 47c0cbf0
-Subproject commit 9078d521dc23fabae72e3fe8d7c0068c68364eef
+Subproject commit 47c0cbf0b29433060682377dcb28266e8dc38995
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
@@ -293,7 +293,7 @@ WARN_LOGFILE           = @CMAKE_BINARY_DIR@/doc/doxygen.log

 INPUT                 = @CMAKE_SOURCE_DIR@/include \
                        @CMAKE_SOURCE_DIR@/doc/additionalDoc
-                        
+

 # The RECURSIVE tag can be used to turn specify whether or not subdirectories
 # should be searched for input files as well. Possible values are YES and NO.
@@ -672,4 +672,4 @@ MATHJAX_FORMAT         = SVG

 ALIASES += "cheatsheet=\xrefitem cheatsheet \"Remarkable identity\" \"Cheat sheet\""

-CITE_BIB_FILES += @CMAKE_SOURCE_DIR@/doc/sot.bib
\ No newline at end of file
+CITE_BIB_FILES += @CMAKE_SOURCE_DIR@/doc/sot.bib
--- a/doc/pictures/entity.svg
+++ b/doc/pictures/entity.svg
@@ -9,7 +9,7 @@
   xmlns="http://www.w3.org/2000/svg"
   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
- 
+
   id="svg2"
   version="1.1"
   inkscape:version="0.47 r22583"

--- a/include/dynamic-graph/command-bind.h
+++ b/include/dynamic-graph/command-bind.h
@@ -283,8 +283,8 @@ struct CommandVoid4 : public Command {
  CommandVoid4(E &entity, function_t function, const std::string &docString)
      : Command(entity,
                boost::assign::list_of(ValueHelper<T1>::TypeID)(
-                    ValueHelper<T2>::TypeID)(
-                    ValueHelper<T3>::TypeID)(ValueHelper<T4>::TypeID),
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID),
                docString),
        fptr(function) {}

@@ -357,13 +357,11 @@ struct CommandVoid5 : public Command {
                                          const T4 &, const T5 &);

  CommandVoid5(E &entity, function_t function, const std::string &docString)
-      : Command(
-            entity,
-            boost::assign::list_of(ValueHelper<T1>::TypeID)(
-                ValueHelper<T2>::TypeID)(
-                ValueHelper<T3>::TypeID)(ValueHelper<T4>::TypeID)(ValueHelper<
-                                                                  T5>::TypeID),
-            docString),
+      : Command(entity,
+                boost::assign::list_of(ValueHelper<T1>::TypeID)(
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID),
+                docString),
        fptr(function) {}

 protected:
@@ -444,15 +442,12 @@ struct CommandVoid6 : public Command {
                                          const T4 &, const T5 &, const T6 &);

  CommandVoid6(E &entity, function_t function, const std::string &docString)
-      : Command(
-            entity,
-            boost::assign::list_of(ValueHelper<T1>::TypeID)(
-                ValueHelper<T2>::TypeID)(
-                ValueHelper<T3>::TypeID)(ValueHelper<
-                                         T4>::TypeID)(ValueHelper<T5>::
-                                                          TypeID)(ValueHelper<
-                                                                  T6>::TypeID),
-            docString),
+      : Command(entity,
+                boost::assign::list_of(ValueHelper<T1>::TypeID)(
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(
+                    ValueHelper<T6>::TypeID),
+                docString),
        fptr(function) {}

 protected:
@@ -536,17 +531,12 @@ struct CommandVoid7 : public Command {
                                          const T7 &);

  CommandVoid7(E &entity, function_t function, const std::string &docString)
-      : Command(
-            entity,
-            boost::assign::list_of(ValueHelper<T1>::TypeID)(
-                ValueHelper<T2>::TypeID)(
-                ValueHelper<T3>::
-                    TypeID)(ValueHelper<
-                            T4>::TypeID)(ValueHelper<T5>::
-                                             TypeID)(ValueHelper<T6>::
-                                                         TypeID)(ValueHelper<
-                                                                 T7>::TypeID),
-            docString),
+      : Command(entity,
+                boost::assign::list_of(ValueHelper<T1>::TypeID)(
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(
+                    ValueHelper<T6>::TypeID)(ValueHelper<T7>::TypeID),
+                docString),
        fptr(function) {}

 protected:
@@ -633,20 +623,13 @@ struct CommandVoid8 : public Command {
                                          const T7 &, const T8 &);

  CommandVoid8(E &entity, function_t function, const std::string &docString)
-      : Command(
-            entity,
-            boost::assign::list_of(ValueHelper<T1>::TypeID)(
-                ValueHelper<T2>::TypeID)(
-                ValueHelper<T3>::
-                    TypeID)(ValueHelper<T4>::
-                                TypeID)(ValueHelper<T5>::
-                                            TypeID)(ValueHelper<T6>::
-                                                        TypeID)(ValueHelper<
-                                                                T7>::
-                                                                    TypeID)(ValueHelper<
-                                                                            T8>::
-                                                                                TypeID),
-            docString),
+      : Command(entity,
+                boost::assign::list_of(ValueHelper<T1>::TypeID)(
+                    ValueHelper<T2>::TypeID)(ValueHelper<T3>::TypeID)(
+                    ValueHelper<T4>::TypeID)(ValueHelper<T5>::TypeID)(
+                    ValueHelper<T6>::TypeID)(ValueHelper<T7>::TypeID)(
+                    ValueHelper<T8>::TypeID),
+                docString),
        fptr(function) {}

 protected:

--- a/include/dynamic-graph/eigen-io.h
+++ b/include/dynamic-graph/eigen-io.h
@@ -7,15 +7,13 @@
 #ifndef DYNAMIC_GRAPH_EIGEN_IO_H
 #define DYNAMIC_GRAPH_EIGEN_IO_H

-#include <boost/format.hpp>
-#include <boost/numeric/conversion/cast.hpp>
-#pragma GCC diagnostic push
-#pragma GCC system_header
-#include <Eigen/Geometry>
-#pragma GCC diagnostic pop
 #include <dynamic-graph/exception-signal.h>
 #include <dynamic-graph/linear-algebra.h>

+#include <Eigen/Geometry>
+#include <boost/format.hpp>
+#include <boost/numeric/conversion/cast.hpp>
+
 using dynamicgraph::ExceptionSignal;

 // TODO: Eigen 3.3 onwards has a global Eigen::Index definition.

--- a/include/dynamic-graph/linear-algebra.h
+++ b/include/dynamic-graph/linear-algebra.h
@@ -6,11 +6,8 @@

 #ifndef DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
 #define DYNAMIC_GRAPH_LINEAR_ALGEBRA_H
-#pragma GCC diagnostic push
-#pragma GCC system_header
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#pragma GCC diagnostic pop

 namespace dynamicgraph {
 typedef Eigen::MatrixXd Matrix;

--- a/include/dynamic-graph/value.h
+++ b/include/dynamic-graph/value.h
@@ -27,7 +27,9 @@ class DYNAMIC_GRAPH_DLLAPI EitherType {
  ~EitherType();
  operator bool() const;
  operator unsigned() const;
+  operator unsigned long int() const;
  operator int() const;
+  operator long int() const;
  operator float() const;
  operator double() const;
  operator std::string() const;
@@ -51,7 +53,9 @@ class DYNAMIC_GRAPH_DLLAPI Value {
    NONE,
    BOOL,
    UNSIGNED,
+    UNSIGNEDLONGINT,
    INT,
+    LONGINT,
    FLOAT,
    DOUBLE,
    STRING,
@@ -65,7 +69,9 @@ class DYNAMIC_GRAPH_DLLAPI Value {
  void deleteValue();
  explicit Value(const bool &value);
  explicit Value(const unsigned &value);
+  explicit Value(const unsigned long int &value);
  explicit Value(const int &value);
+  explicit Value(const long int &value);
  explicit Value(const float &value);
  explicit Value(const double &value);
  explicit Value(const std::string &value);
@@ -107,7 +113,9 @@ class DYNAMIC_GRAPH_DLLAPI Value {
  friend class EitherType;
  bool boolValue() const;
  unsigned unsignedValue() const;
+  unsigned long int unsignedlongintValue() const;
  int intValue() const;
+  long int longintValue() const;
  float floatValue() const;
  double doubleValue() const;
  std::string stringValue() const;

--- a/js/view_sot_dg.html
+++ b/js/view_sot_dg.html
@@ -6,7 +6,7 @@
   <script>
     function renderDOTFile() {
       var fileInputElement = document.getElementById("fileInputElement");
-     
+
       var reader = new FileReader();
       var graphtextres = ""
       reader.onloadend = function(e) {
@@ -27,7 +27,7 @@
         .catch(error => {
          // Create a new Viz instance (@see Caveats page for more info)
          viz = new Viz();
-     
+
          // Possibly display the error
          console.error(error);
          });
@@ -37,7 +37,7 @@


   </script>
-   <input type="file" id="fileInputElement">   
+   <input type="file" id="fileInputElement">
   <input id="Rendering" type="button" value="Rendering" onclick="renderDOTFile();" />
   <script>
     var el = document.getElementById("Rendering");
@@ -49,4 +49,3 @@
 </body>

 </html>
-
--- a/package.xml
+++ b/package.xml
 <?xml version="1.0"?>
 <package format="3">
  <name>dynamic-graph</name>
-  <version>4.4.0</version>
+  <version>4.4.3</version>
  <description>
    Dynamic graph library
  </description>

--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
-SET(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)

-SET(plugins
-  traces/tracer
-  traces/tracer-real-time
-  )
+set(plugins traces/tracer traces/tracer-real-time)

-SET(tracer-real-time_deps tracer)
+set(tracer-real-time_deps tracer)

-FOREACH(plugin ${plugins})
-  GET_FILENAME_COMPONENT(LIBRARY_NAME ${plugin} NAME)
-  ADD_LIBRARY(${LIBRARY_NAME} SHARED "${plugin}.cpp")
+foreach(plugin ${plugins})
+  get_filename_component(LIBRARY_NAME ${plugin} NAME)
+  add_library(${LIBRARY_NAME} SHARED "${plugin}.cpp")

-  IF(SUFFIX_SO_VERSION)
-    SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
-  ENDIF(SUFFIX_SO_VERSION)
-  SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES INSTALL_RPATH $ORIGIN)
+  if(SUFFIX_SO_VERSION)
+    set_target_properties(${LIBRARY_NAME} PROPERTIES SOVERSION
+                                                     ${PROJECT_VERSION})
+  endif(SUFFIX_SO_VERSION)
+  set_target_properties(${LIBRARY_NAME} PROPERTIES INSTALL_RPATH $ORIGIN)

-  TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${PROJECT_NAME} ${${LIBRARY_NAME}_deps})
+  target_link_libraries(${LIBRARY_NAME} PUBLIC ${PROJECT_NAME}
+                                               ${${LIBRARY_NAME}_deps})

-  INSTALL(TARGETS ${LIBRARY_NAME} EXPORT ${TARGETS_EXPORT_NAME}
+  install(
+    TARGETS ${LIBRARY_NAME}
+    EXPORT ${TARGETS_EXPORT_NAME}
    DESTINATION ${DYNAMIC_GRAPH_PLUGINDIR})
-ENDFOREACH(plugin)
+endforeach(plugin)
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