conda-forge-ci: Use tomlplusplus conda package

[traversaro]

See conda-forge/staged-recipes#14921 for the PR that added the tomlplusplus package to conda-forge.

[traversaro]

@GiulioRomualdi I think there is little benefit to have a changelog entry for this, let me know if you think otherwise.

[traversaro]

Now the macos build fails with:

2021-07-27T20:13:51.5810350Z [159/180] Building CXX object src/ParametersHandler/TomlImplementation/CMakeFiles/ParametersHandlerTomlImplementation.dir/src/TomlImplementation.cpp.o
2021-07-27T20:13:51.5873200Z FAILED: src/ParametersHandler/TomlImplementation/CMakeFiles/ParametersHandlerTomlImplementation.dir/src/TomlImplementation.cpp.o 
2021-07-27T20:13:51.5889930Z /usr/local/miniconda/envs/test/bin/x86_64-apple-darwin13.4.0-clang++ -DFMT_SHARED -DParametersHandlerTomlImplementation_EXPORTS -DSPDLOG_COMPILED_LIB -DSPDLOG_SHARED_LIB -D_USE_MATH_DEFINES -I/Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/ParametersHandler/TomlImplementation/include -I/Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/ParametersHandler/include -I/Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/GenericContainer/include -I/Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/TextLogging/include -isystem /usr/local/miniconda/envs/test/include/eigen3 -march=core2 -mtune=haswell -mssse3 -ftree-vectorize -fPIC -fPIE -fstack-protector-strong -O2 -pipe -stdlib=libc++ -fvisibility-inlines-hidden -std=c++14 -fmessage-length=0 -isystem /usr/local/miniconda/envs/test/include -O3 -DNDEBUG -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX10.15.sdk -fPIC -std=gnu++17 -MD -MT src/ParametersHandler/TomlImplementation/CMakeFiles/ParametersHandlerTomlImplementation.dir/src/TomlImplementation.cpp.o -MF src/ParametersHandler/TomlImplementation/CMakeFiles/ParametersHandlerTomlImplementation.dir/src/TomlImplementation.cpp.o.d -o src/ParametersHandler/TomlImplementation/CMakeFiles/ParametersHandlerTomlImplementation.dir/src/TomlImplementation.cpp.o -c /Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/ParametersHandler/TomlImplementation/src/TomlImplementation.cpp
2021-07-27T20:13:51.5914030Z In file included from /Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/ParametersHandler/TomlImplementation/src/TomlImplementation.cpp:10:
2021-07-27T20:13:51.5919650Z In file included from /Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/ParametersHandler/TomlImplementation/include/BipedalLocomotion/ParametersHandler/TomlImplementation.h:17:
2021-07-27T20:13:51.6000690Z In file included from /usr/local/miniconda/envs/test/include/toml++/toml.h:23:
2021-07-27T20:13:51.6022370Z /usr/local/miniconda/envs/test/include/toml++/toml_array.h:204:4: error: static_assert failed due to requirement 'is_native<std::__1::__bit_const_reference<std::__1::vector<bool, std::__1::allocator<bool>>>> || is_losslessly_convertible_to_native<std::__1::__bit_const_reference<std::__1::vector<bool, std::__1::allocator<bool>>>>' "Value initializers must be (or be promotable to) one of the TOML value types"
2021-07-27T20:13:51.6101990Z                         static_assert(
2021-07-27T20:13:51.6119220Z                         ^
2021-07-27T20:13:51.6126730Z /usr/local/miniconda/envs/test/include/toml++/toml_array.h:242:11: note: in instantiation of function template specialization 'toml::v2::impl::make_node_specialized<const std::__1::__bit_const_reference<std::__1::vector<bool, std::__1::allocator<bool>>> &>' requested here
2021-07-27T20:13:51.6203600Z                         return make_node_specialized(static_cast<T&&>(val));
2021-07-27T20:13:51.6220560Z                                ^
2021-07-27T20:13:51.6231760Z /usr/local/miniconda/envs/test/include/toml++/toml_array.h:333:33: note: in instantiation of function template specialization 'toml::v2::impl::make_node<const std::__1::__bit_const_reference<std::__1::vector<bool, std::__1::allocator<bool>>> &>' requested here
2021-07-27T20:13:51.6305370Z                                 elements.emplace_back(impl::make_node(std::forward<T>(val)));
2021-07-27T20:13:51.6324770Z                                                             ^
2021-07-27T20:13:51.6365270Z /usr/local/miniconda/envs/test/include/toml++/toml_array.h:854:5: note: in instantiation of function template specialization 'toml::v2::array::emplace_back_if_not_empty_view<const std::__1::__bit_const_reference<std::__1::vector<bool, std::__1::allocator<bool>>> &>' requested here
2021-07-27T20:13:51.6407520Z                                 emplace_back_if_not_empty_view(std::forward<ElemType>(val));
2021-07-27T20:13:51.6425800Z                                 ^
2021-07-27T20:13:51.6479410Z /Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/ParametersHandler/TomlImplementation/include/BipedalLocomotion/ParametersHandler/TomlImplementation.tpp:145:52: note: in instantiation of function template specialization 'toml::v2::array::push_back<const std::__1::__bit_const_reference<std::__1::vector<bool, std::__1::allocator<bool>>> &>' requested here
2021-07-27T20:13:51.6509640Z             m_container[parameterName].as_array()->push_back(element);
2021-07-27T20:13:51.6526850Z                                                    ^
2021-07-27T20:13:51.6585650Z /Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/ParametersHandler/TomlImplementation/src/TomlImplementation.cpp:106:12: note: in instantiation of function template specialization 'BipedalLocomotion::ParametersHandler::TomlImplementation::setParameterPrivate<std::__1::vector<bool, std::__1::allocator<bool>>>' requested here
2021-07-27T20:13:51.6611140Z     return setParameterPrivate(parameterName, parameter);
2021-07-27T20:13:51.6627900Z            ^
2021-07-27T20:13:51.6691220Z In file included from /Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/ParametersHandler/TomlImplementation/src/TomlImplementation.cpp:10:
2021-07-27T20:13:51.6714210Z In file included from /Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/ParametersHandler/TomlImplementation/include/BipedalLocomotion/ParametersHandler/TomlImplementation.h:17:
2021-07-27T20:13:51.6729130Z In file included from /usr/local/miniconda/envs/test/include/toml++/toml.h:22:
2021-07-27T20:13:51.6797090Z /usr/local/miniconda/envs/test/include/toml++/toml_value.h:183:3: error: static_assert failed due to requirement 'impl::is_native<void>' "A toml::value<> must model one of the native TOML value types: (std::string, int64_t, double, bool, toml::date, toml::time, toml::date_time)"
2021-07-27T20:13:51.6816920Z                 static_assert(
2021-07-27T20:13:51.6830650Z                 ^
2021-07-27T20:13:51.6901290Z /usr/local/miniconda/envs/test/include/toml++/toml_array.h:219:16: note: in instantiation of template class 'toml::v2::value<void>' requested here
2021-07-27T20:13:51.6918050Z                                 return new value<value_type>{ static_cast<T&&>(val) };
2021-07-27T20:13:51.6931630Z                                            ^
2021-07-27T20:13:51.7004910Z /usr/local/miniconda/envs/test/include/toml++/toml_array.h:242:11: note: in instantiation of function template specialization 'toml::v2::impl::make_node_specialized<const std::__1::__bit_const_reference<std::__1::vector<bool, std::__1::allocator<bool>>> &>' requested here
2021-07-27T20:13:51.7019350Z                         return make_node_specialized(static_cast<T&&>(val));
2021-07-27T20:13:51.7048180Z                                ^
2021-07-27T20:13:51.7076150Z /usr/local/miniconda/envs/test/include/toml++/toml_array.h:333:33: note: in instantiation of function template specialization 'toml::v2::impl::make_node<const std::__1::__bit_const_reference<std::__1::vector<bool, std::__1::allocator<bool>>> &>' requested here
2021-07-27T20:13:51.7156130Z                                 elements.emplace_back(impl::make_node(std::forward<T>(val)));
2021-07-27T20:13:51.7163720Z                                                             ^
2021-07-27T20:13:51.7194040Z /usr/local/miniconda/envs/test/include/toml++/toml_array.h:854:5: note: in instantiation of function template specialization 'toml::v2::array::emplace_back_if_not_empty_view<const std::__1::__bit_const_reference<std::__1::vector<bool, std::__1::allocator<bool>>> &>' requested here
2021-07-27T20:13:51.7270970Z                                 emplace_back_if_not_empty_view(std::forward<ElemType>(val));
2021-07-27T20:13:51.7293340Z                                 ^
2021-07-27T20:13:51.7328080Z /Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/ParametersHandler/TomlImplementation/include/BipedalLocomotion/ParametersHandler/TomlImplementation.tpp:145:52: note: in instantiation of function template specialization 'toml::v2::array::push_back<const std::__1::__bit_const_reference<std::__1::vector<bool, std::__1::allocator<bool>>> &>' requested here
2021-07-27T20:13:51.7371790Z             m_container[parameterName].as_array()->push_back(element);
2021-07-27T20:13:51.7395270Z                                                    ^
2021-07-27T20:13:51.7433870Z /Users/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/src/ParametersHandler/TomlImplementation/src/TomlImplementation.cpp:106:12: note: in instantiation of function template specialization 'BipedalLocomotion::ParametersHandler::TomlImplementation::setParameterPrivate<std::__1::vector<bool, std::__1::allocator<bool>>>' requested here
2021-07-27T20:13:51.7474990Z     return setParameterPrivate(parameterName, parameter);
2021-07-27T20:13:51.7496260Z            ^
2021-07-27T20:13:51.7537340Z 2 errors generated.

[traversaro]

I don't think this is a regression due to conda, it just seems that before in the conda-ci the tomlplusplus package even if installed from source, it was ignored, as from the CMake log you can see that the ParametersHandlerTomlImplementation target was not compiled.

[traversaro]

Yes, indeed also in other CIs systems tomlplusplus seems to be ignored.

[GiulioRomualdi]

There is a bug in the TomlImplementation of the ParametersHandler when an std::vector<bool> is passed to the setParameter method.
Indeed a std::vector<bool> is (usually) specialized explicitly to store each bool in a single bit. For this reason the following code fails

std::vector<bool> boolVector(10);
for(const auto& element : boolVector)
    m_container[parameterName].as_array()->push_back(element);

notice that here element is not a const reference to bool but a const std::vector<bool>::reference and in the specific case of macos a std::__1::__bit_const_reference<std::__1::vector<bool, std::__1::allocator<bool>>

The following modification should be enough to fix the problem:

std::vector<bool> boolVector(10);
for(bool element : boolVector)
    m_container[parameterName].as_array()->push_back(element);

Interesting ridings:

1. https://stackoverflow.com/questions/34079390/range-for-loops-and-stdvectorbool
2. https://opensource.apple.com/source/libcpp/libcpp-19/include/__bit_reference.auto.html

---

Yes, indeed also in other CIs systems tomlplusplus seems to be ignored.

Regarding this I don't know why

[GiulioRomualdi]

@traversaro

Yes, indeed also in other CIs systems tomlplusplus seems to be ignored.

Regarding this I don't know why

This is the problem: marzer/tomlplusplus#110