[pull] devel from choreonoid:master

.gitignore

@@ -4,10 +4,15 @@
 /core
 ext/*
 !ext/CMakeLists.txt
+/build*/
 Makefile
 CMakeFiles/
 cmake_install.cmake
 CMakeCache.txt
+/*.cnoid
+/tmp/
+/.vscode/
+*.code-workspace
 
 # Debian build artifacts
 debian/choreonoid/

CMakeLists.txt

@@ -89,10 +89,10 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 
 # C++ version
 if(CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD ${CMAKE_CXX_STANDARD} CACHE STRING "C++ version number. Specify either 20, 17 or 14.")
+  set(CMAKE_CXX_STANDARD ${CMAKE_CXX_STANDARD} CACHE STRING "C++ version number. Specify 20 or 17.")
 
 else()
-  set(cxx_standard 14)
+  set(cxx_standard 17)
 
   if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.12.0) # C++20 is supported by CMake 3.12 or later
     if(UNIX)
@@ -105,25 +105,11 @@ else()
     endif()
   endif()
 
-  if(NOT has_cpp20)
-    if(UNIX)
-      # C++17 support of GCC 7 is experimental
-      if(NOT CMAKE_COMPILER_IS_GNUCC OR CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 8)
-	check_cxx_compiler_flag("-std=c++17" has_cpp17)
-      endif()
-    elseif(MSVC)
-      check_cxx_compiler_flag("/std:c++17" has_cpp17)
-    endif()
-    if(has_cpp17)
-      set(cxx_standard 17)
-    endif()
-  endif()
-
-  set(CMAKE_CXX_STANDARD ${cxx_standard} CACHE STRING "C++ version number. Specify either 20, 17 or 14.")
+  set(CMAKE_CXX_STANDARD ${cxx_standard} CACHE STRING "C++ version number. Specify 20 or 17.")
 endif()
 
-if(CMAKE_CXX_STANDARD LESS 14)
-  message(FATAL_ERROR "Choreonoid requires C++14 or higher.")
+if(CMAKE_CXX_STANDARD LESS 17)
+  message(FATAL_ERROR "Choreonoid requires C++17 or higher.")
 endif()
 
 if(UNIX)
@@ -456,31 +442,14 @@ endif()
 
 option(USE_BUNDLED_PYBIND11 "Use the Pybind11 library bundled with Choreonoid" ON)
 
-option(USE_PYTHON3 "Use Python version 3 instead of version 2" ON)
-# for Config.h
-if(USE_PYTHON3)
-  set(CNOID_USE_PYTHON2 OFF)
-else()
-  set(CNOID_USE_PYTHON2 ON)
-endif()
-
 set(CHOREONOID_PYTHON_SUBDIR ${CHOREONOID_PLUGIN_SUBDIR}/python)
 
 if(ENABLE_PYTHON)
   # The following cache variables must be cleared to update the python version
   unset(PYTHON_INCLUDE_DIR CACHE)
   unset(PYTHON_LIBRARY CACHE)
   unset(PYTHON_LIBRARY_DEBUG CACHE)
-  if(USE_PYTHON3)
-    find_package(PythonLibs 3 REQUIRED)
-  else()
-    set(Python_ADDITIONAL_VERSIONS 2.7)
-    find_package(PythonLibs 2 REQUIRED)
-    if(NOT CMAKE_CXX_STANDARD LESS 17)
-      message(WARNING "C++14 is used when Python2 is used.")
-      set(CMAKE_CXX_STANDARD 14 CACHE STRING "C++ version number. C++14 is used when Python2 is used." FORCE)
-    endif()
-  endif()
+  find_package(PythonLibs 3 REQUIRED)
   include_directories(${PYTHON_INCLUDE_DIRS})
   list(APPEND CHOREONOID_SDK_INCLUDE_DIRS ${PYTHON_INCLUDE_DIRS})
   set(init_py "${PROJECT_BINARY_DIR}/${CHOREONOID_PYTHON_SUBDIR}/cnoid/__init__.py")
@@ -535,25 +504,9 @@ if(ENABLE_LUA)
   set(CHOREONOID_LUA_SUBDIR ${CHOREONOID_PLUGIN_SUBDIR}/lua)
 endif()
 
-if(CMAKE_CXX_STANDARD GREATER_EQUAL 17)
-  if(UNIX)
-    set(FILESYSTEM_LIBRARY stdc++fs)
-  endif()
-  set(has_boost_libs_for_util_libs false)
-else()
-  # boost
-  set(Boost_USE_STATIC_LIBS OFF)
-  find_package(Boost REQUIRED COMPONENTS system filesystem)
-  include_directories(${Boost_INCLUDE_DIRS})
-  link_directories(${Boost_LIBRARY_DIRS})
-  list(APPEND CHOREONOID_SDK_INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
-  list(APPEND CHOREONOID_SDK_LIBRARY_DIRS ${Boost_LIBRARY_DIRS})
-  set(FILESYSTEM_LIBRARY ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY})
-  if(MSVC)
-    set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS BOOST_ALL_DYN_LINK ${BOOST_LIB_DIAGNOSTIC})
-    install_runtime_dlls(${Boost_LIBRARY_DIRS} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY})
-  endif()
-  set(has_boost_libs_for_util_libs true)
+# C++17 std::filesystem
+if(UNIX)
+  set(FILESYSTEM_LIBRARY stdc++fs)
 endif()
 
 # Eigen

cmake/CMakeLists.txt

@@ -14,11 +14,6 @@ set(modules
 
 set(util_dependencies fmt ${FILESYSTEM_LIBRARY})
 
-if(has_boost_libs_for_util_libs)
-  set(boost_version ${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION})
-  set(boost_components_for_util_libs system filesystem)
-endif()
-
 if(UNIX)
   set(CHOREONOID_USE_SUBSYSTEM_CONSOLE false)
 elseif(MSVC)

cmake/ChoreonoidConfig.cmake.in

@@ -51,11 +51,6 @@ set(CHOREONOID_DEFAULT_FVISIBILITY_HIDDEN @CHOREONOID_DEFAULT_FVISIBILITY_HIDDEN
 set(CHOREONOID_INCLUDE_DIRS "@include_dirs@")
 set(CHOREONOID_LIBRARY_DIRS "@library_dirs@")
 set(CHOREONOID_INSTALL_SDK @CHOREONOID_INSTALL_SDK@)
-set(CHOREONOID_USE_PYTHON2 @CNOID_USE_PYTHON2@)
-
-if(@has_boost_libs_for_util_libs@)
-  find_package(Boost @boost_version@ EXACT COMPONENTS @boost_components_for_util_libs@)
-endif()
 
 add_library(Choreonoid::CnoidUtil SHARED IMPORTED GLOBAL)
 if(WIN32)
@@ -77,13 +72,8 @@ endif()
 #target_include_directories(Choreonoid::CnoidUtil INTERFACE ${CHOREONOID_INCLUDE_DIRS})
 set_property(TARGET Choreonoid::CnoidUtil APPEND PROPERTY INTERFACE_COMPILE_DEFINITIONS
   ${CHOREONOID_COMPILE_DEFINITIONS})
-if(@has_boost_libs_for_util_libs@)
-  set_property(TARGET Choreonoid::CnoidUtil APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
-    ${CHOREONOID_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
-else()
-  set_property(TARGET Choreonoid::CnoidUtil APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
-    ${CHOREONOID_INCLUDE_DIRS})
-endif()
+set_property(TARGET Choreonoid::CnoidUtil APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+  ${CHOREONOID_INCLUDE_DIRS})
 
 target_link_libraries(Choreonoid::CnoidUtil INTERFACE @util_dependencies@)
 set(CHOREONOID_UTIL_LIBRARIES Choreonoid::CnoidUtil)

include/cnoid/stdx/clamp

@@ -3,30 +3,8 @@
 
 #include <algorithm>
 
-#if __cplusplus >= 201703L
-
 namespace cnoid::stdx {
 using std::clamp;
 }
 
-#else
-
-namespace cnoid { namespace stdx {
-/** Clamp a value in a given interval.
- *
- * \param value Value to clamp.
- * \param lower Lower bound.
- * \param upper Upper bound.
- *
- * \returns clamped value
- */
-template<typename T>
-constexpr const T clamp(const T& v, const T& low, const T& high)
-{
-    return v < low ? low : (v < high ? v : high);
-}
-} } // namespace cnoid::stdx
-
-#endif
-
 #endif

include/cnoid/stdx/filesystem

@@ -1,122 +1,28 @@
 #ifndef CNOID_STDX_FILESYSTEM_HEADER
 #define CNOID_STDX_FILESYSTEM_HEADER
 
-#if __cplusplus > 201402L
-
 #include <chrono>
-
-#if ((defined(__GNUC__) && !defined(__clang__) && (__GNUC__ < 8)) || \
-     (defined(__clang__) && (!defined(_GLIBCXX_RELEASE) || _GLIBCXX_RELEASE < 8)))
-
-#include <experimental/filesystem>
-namespace std::experimental::filesystem {
-
-inline path lexically_normal(const path& p){
-    // lexically_normal or any other normalization functions are not
-    // implemented in the experimental filesystem implementation
-    return p;
-}
-
-inline path absolute(const path& p, std::error_code& ec)
-{
-    return absolute(p);
-}
-
-#else
-
 #include <filesystem>
+
 namespace std::filesystem {
 
+[[deprecated("Use path::lexically_normal() member function instead")]]
 inline path lexically_normal(const path& p){
     return p.lexically_normal();
 }
 
-#endif
-
+[[deprecated("Use std::filesystem::last_write_time() and file_time_type instead")]]
 inline std::time_t last_write_time_to_time_t(const path& p){
     return std::chrono::duration_cast<std::chrono::system_clock::duration>(
         last_write_time(p).time_since_epoch()).count();
 }
 
-} // namespace
+}
 
 namespace cnoid::stdx {
-
-#if ((defined(__GNUC__) && !defined(__clang__) && (__GNUC__ < 8)) || \
-     (defined(__clang__) && (!defined(_GLIBCXX_RELEASE) || _GLIBCXX_RELEASE < 8)))
-
-namespace filesystem = std::experimental::filesystem;
-
-#else
-
 namespace filesystem = std::filesystem;
-
-#endif
-
-typedef std::error_code error_code;
-typedef filesystem::copy_options copy_options;
-}
-
-#else // __cplusplus > 201402L
-
-#include <boost/filesystem.hpp>
-namespace boost { namespace filesystem {
-
-inline std::time_t last_write_time_to_time_t(const path& p){
-    return last_write_time(p);
-}
-
-#if BOOST_VERSION < 107400
-inline path absolute(const path& p, system::error_code& ec)
-{
-    return absolute(p);
-}
-#endif
-
-inline path lexically_normal(const path& p){
-#if BOOST_VERSION < 106000
-    path n(p);
-    return n.normalize();
-#else
-    return p.lexically_normal();
-#endif
-}
-
-inline bool copy_directory_recursively(const path& src, const path& dest, system::error_code& ec)
-{
-    namespace fs = boost::filesystem;
-
-    if(!fs::exists(src, ec) || !fs::is_directory(src, ec)){
-        return false;
-    }
-    if(!fs::exists(dest, ec)){
-        if(!fs::create_directory(dest)){
-            return false;
-        }
-    }
-    for(fs::directory_iterator it(src); it != fs::directory_iterator(); ++it){
-        fs::path current(it->path());
-        if(fs::is_directory(current)){
-            if(!copy_directory_recursively(current, dest / current.filename(), ec)){
-                return false;
-            }
-        } else {
-            fs::copy_file(current, dest / current.filename(), ec);
-            if(ec){
-                return false;
-            }
-        }
-    }
-    return true;
+using error_code = std::error_code;
+using copy_options = std::filesystem::copy_options;
 }
 
-} }
-
-namespace cnoid { namespace stdx {
-namespace filesystem = boost::filesystem;
-typedef boost::system::error_code error_code;
-typedef boost::filesystem::copy_option copy_options;
-} }
-#endif
-
 #endif

include/cnoid/stdx/optional

@@ -1,51 +1,25 @@
 #ifndef CNOID_STDX_OPTIONAL_HEADER
 #define CNOID_STDX_OPTIONAL_HEADER
 
-#if __cplusplus > 201402L
 #include <optional>
+
 namespace cnoid::stdx {
+
 using std::optional;
 using std::nullopt;
 
 template<class T, class... Args>
+[[deprecated("Use std::optional::emplace() member function instead")]]
 T& emplace(optional<T>& opt, Args&&... args){
-    return opt.emplace(args...);
-}
-template<class T>
-T& emplace(optional<T>& opt){
-    return opt.emplace();
-}
-
+    return opt.emplace(std::forward<Args>(args)...);
 }
 
-#else
-#include <boost/version.hpp>
-#include <boost/optional.hpp>
-#include <boost/utility/in_place_factory.hpp>
-namespace cnoid { namespace stdx {
-using boost::optional;
-namespace {
-#if BOOST_VERSION >= 106000
-const boost::none_t nullopt ((boost::none_t::init_tag()));
-#else
-const boost::none_t& nullopt = boost::detail::optional_detail::none_instance<boost::none_t>::instance;
-#endif
-
-template<class T, class... Args>
-T& emplace(optional<T>& opt, Args&&... args){
-    opt = boost::in_place(args...);
-    return *opt;
-}
 template<class T>
+[[deprecated("Use std::optional::emplace() member function instead")]]
 T& emplace(optional<T>& opt){
-    opt = boost::in_place();
-    return *opt;
+    return opt.emplace();
 }
 
 }
 
-} }
-
-#endif
-
 #endif