From 0fb06467132e89038fcb12488aba94f258578f75 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Mon, 5 Sep 2022 15:13:17 +0200
Subject: [PATCH 1/3] Attempt to fix the compatibility with fmt v9.0.0

---
 src/TextLogging/CMakeLists.txt                      |  2 +-
 .../include/BipedalLocomotion/TextLogging/Logger.h  | 13 +++++++++++++
 2 files changed, 14 insertions(+), 1 deletion(-)

diff --git a/src/TextLogging/CMakeLists.txt b/src/TextLogging/CMakeLists.txt
index 778efd9874..4400dd1754 100644
--- a/src/TextLogging/CMakeLists.txt
+++ b/src/TextLogging/CMakeLists.txt
@@ -8,5 +8,5 @@ add_bipedal_locomotion_library(
                          include/BipedalLocomotion/TextLogging/LoggerBuilder.h
                          include/BipedalLocomotion/TextLogging/DefaultLogger.h
   SOURCES                src/Logger.cpp src/LoggerBuilder.cpp src/DefaultLogger.cpp
-  PUBLIC_LINK_LIBRARIES  spdlog::spdlog
+  PUBLIC_LINK_LIBRARIES  spdlog::spdlog Eigen3::Eigen
   SUBDIRECTORIES         YarpImplementation)
diff --git a/src/TextLogging/include/BipedalLocomotion/TextLogging/Logger.h b/src/TextLogging/include/BipedalLocomotion/TextLogging/Logger.h
index 2057d4a7b4..94a6e82f49 100644
--- a/src/TextLogging/include/BipedalLocomotion/TextLogging/Logger.h
+++ b/src/TextLogging/include/BipedalLocomotion/TextLogging/Logger.h
@@ -14,6 +14,19 @@
 #include <spdlog/spdlog.h>
 #include <type_traits>
 
+// This is required only for FMT > v9.0.0
+#if (defined(FMT_VERSION) && FMT_VERSION > 90000)
+#include <Eigen/Dense>
+template <typename _Derived>
+struct fmt::formatter<Eigen::DenseBase<_Derived>> : ostream_formatter
+{
+};
+template <typename _Derived>
+struct fmt::formatter<Eigen::Transpose<_Derived>> : ostream_formatter
+{
+};
+#endif
+
 namespace BipedalLocomotion
 {
 namespace TextLogging

From 752dcb805262d4bfa986e83442864b7cc2761db2 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Mon, 5 Sep 2022 16:05:59 +0200
Subject: [PATCH 2/3] Update the CHANGELOG

---
 CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4a524b0ef1..9416be4e9f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,7 @@ All notable changes to this project are documented in this file.
 ### Changed
 ### Fix
 - Fix the dependency required to compile the YarpRobotLogger device (https://github.com/ami-iit/bipedal-locomotion-framework/pull/554)
+- Fix the compatibility with fmt v9.0.0 (https://github.com/ami-iit/bipedal-locomotion-framework/pull/556)
 
 ## [0.8.0] - 2022-07-29
 ### Added

From 1328bb74dd61d910715e131decaa82121e8dc5b2 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Mon, 5 Sep 2022 16:15:14 +0200
Subject: [PATCH 3/3] Reset the GitHub CI cache to recompile YARP on macOS

---
 .github/workflows/ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index bf508ae6d3..b357288b1d 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -130,7 +130,7 @@ jobs:
       uses: actions/cache@v3
       with:
         path: ${{ github.workspace }}/install/deps
-        key: source-deps-${{ runner.os }}-os-${{ matrix.os }}-build-type-${{ matrix.build_type }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-ycm-${{ env.YCM_TAG }}-yarp-${{ env.YARP_TAG }}-iDynTree-${{ env.iDynTree_TAG }}-catch2-${{ env.Catch2_TAG }}-qhull-${{ env.Qhull_TAG }}-casADi-${{ env.CasADi_TAG }}-manif-${{ env.manif_TAG }}-matioCpp-${{ env.matioCpp_TAG }}-LieGroupControllers-${{ env.LieGroupControllers_TAG }}-osqp-${{ env.osqp_TAG }}-osqp-eigen-${{ env.OsqpEigen_TAG }}-tomlplusplus-${{ env.tomlplusplus_TAG }}-unicycle-${{ env.UnicyclePlanner_TAG }}-icub-models-${{ env.icub_models_TAG }}-robometry-${{ env.telemetry_TAG }}
+        key: blf-source-deps-${{ runner.os }}-os-${{ matrix.os }}-build-type-${{ matrix.build_type }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-ycm-${{ env.YCM_TAG }}-yarp-${{ env.YARP_TAG }}-iDynTree-${{ env.iDynTree_TAG }}-catch2-${{ env.Catch2_TAG }}-qhull-${{ env.Qhull_TAG }}-casADi-${{ env.CasADi_TAG }}-manif-${{ env.manif_TAG }}-matioCpp-${{ env.matioCpp_TAG }}-LieGroupControllers-${{ env.LieGroupControllers_TAG }}-osqp-${{ env.osqp_TAG }}-osqp-eigen-${{ env.OsqpEigen_TAG }}-tomlplusplus-${{ env.tomlplusplus_TAG }}-unicycle-${{ env.UnicyclePlanner_TAG }}-icub-models-${{ env.icub_models_TAG }}-robometry-${{ env.telemetry_TAG }}
 
 
     - name: Source-based Dependencies [Windows]