Prepare changelog for 3.9 release.

README.md

@@ -25,6 +25,16 @@ Documentation
 [![YARP documentation](https://img.shields.io/badge/Documentation-yarp.it-19c2d8.svg)](http://www.yarp.it/)
 
 
+Officially supported systems:
+------------
+The following systems are officially supported and tested by github CI.
+* Ubuntu 22.04 - clang 17
+* Ubuntu 22.04 - gcc 11.4.0
+* Windows  10.0.17763 - VS 16.11.2.50704
+* Windows  10.0.20348 - VS 17.8.34309.116
+* macOS  12.6.9 - clang 14.0.3
+* macOS  13.6 - clang 14.0.3
+
 Installation
 ------------
 
@@ -34,21 +44,13 @@ See full instructions at http://www.yarp.it/install.html
 
 ```bash
 sudo apt-get install cmake libace-dev
+wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
+sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb
 git clone https://github.com/robotology/yarp
 cd yarp && mkdir build && cd build && cmake .. && make
 sudo make install  # Optional
 ```
 
-* On Windows:
-
-  Binaries at https://github.com/robotology/yarp/releases
-
-* On macOS:
-
-```bash
-brew install robotology/formulae/yarp
-```
-
 Regular YARP builds use the [ACE](https://github.com/DOCGroup/ACE_TAO) library.
 On Linux and macOS, YARP can be compiled without ACE by adding `-DSKIP_ACE=TRUE`
 when running cmake.

doc/release/master.md

@@ -0,0 +1,94 @@
+YARP 3.9.0 (2023-11-21)                                                {#v3_9_0}
+=======================
+
+[TOC]
+
+YARP 3.9.0 Release Notes
+========================
+
+A (partial) list of bug fixed and issues resolved in this release can be found
+[here](https://github.com/robotology/yarp/issues?q=label%3A%22Fixed+in%3A+YARP+v3.9.0%22).
+
+Major Behaviour Changes
+---------------------------------
+
+* Yarp now supports C++20 standard.
+* Catch2 library updated to version: 3.4.0
+* YCM library updated to 0.15.3
+
+Deprecations and removals
+---------------------------------
+* Removed yarp companion command TopicTest.
+* Removed unnecessary rosmsg dependencies in yarpdataplayer.
+* Removed UNMAINTAINED executable yarpfs.
+* Removed UNMAINTAINED library libyarpc.
+* Removed deprecated device controlboardwrapper2.
+
+Fixes
+-----
+* General improvement to yarp github CI to support Ubuntu22.04+clang17, Windows2022+VS17
+* Fixed segfault in `audioRecorderDeviceBase` device.
+* Added missing doxygen tags to several interfaces and devices.
+* Fixed segfault when reading a mono .wav file from disk in `SoundFileWav.cpp`.
+* Fixed stdin in `yarprun --cmd <cmd> --stdio`.
+* Removed robot and `iCubGui` inertial ports from the example app as the GUI is unable to handle the MAS client.
+* Fix bug that forces images to be sent through RPC calls in `frameGrabber_nwc_yarp`.
+* The error message upon inconsistent encoder timestamps has been throttled in `controlBoard_nws_yarp`.
+* Fixed issue regarding windows/linux timestamps synchronization: `yarp::os::SystemClock::nowSystem()` now maps to `std::chrono::system_clock` instead of `std::chrono::high_resolution_clock`
+
+New Features
+------------
+
+### GUIs
+
+#### yarpaudiocontrolgui
+
+Added new gui `yarpaudiocontrolgui` to start/stop an `audioRecorder_nwc_yarp` or an `audioPlayer_nwc_yarp` device.
+
+#### yarpllmgui
+
+Added new gui `yarpllmgui` to control `IChatbot` devices.
+
+### Libraries
+
+#### libYARP_sig
+
+* The class `yarp::sig::sound` has refactored to avoid the internal use (private implementation) of `yarp::sig::Image` data type.
+
+#### libYARP_companion
+
+* Added companion command `yarp split`. The command splits an heterogeneous nested bottle received from a port into multiple ports.
+
+####  libYARP_dev
+
+* Added new interface: `IJointCoupling`, an interface for handling coupled joints.
+* Added new interfaces: `ISpeechSynthesizer`, `ISpeechTranscription`.
+* Added new interface: `IChatBot` to interact with chatbots.
+* The interface `ITorqueControl` now supports four a new friction parameters: `velocityThresh`.
+  These parameters are used to enable the new torque control law and fine tune the the friction compensation at FW level.
+
+### Devices
+
+#### frameTransformStorage + frameTransformClient + frameTransformServer
+
+* Added a timeout related parameter (`FrameTransform_container_timeout`) to change the refresh interval for old timed frame transforms.
+* The parameter has also been added to the `frameTransformClient` and `frameTransformServer` configuration files. The `extern-name` for this parameter is:
+ `ftc_storage_timeout` for `frameTransformClient` files; `fts_storage_timeout` for `frameTransformServer` files
+
+#### chatBot
+
+* Added nwc device `chatBot_nwc_yarp` for the `IChatBot` interface and the corresponding test
+* Added nws device `chatBot_nws_yarp`
+* Added fake device `fakeChatBotDevice`
+
+#### speechSynthesizer
+
+* Added nwc device `speechSynthesizer_nwc_yarp` for the `ISpeechSynthesizer` interface and the corresponding test
+* Added nws device `speechSynthesizer_nws_yarp`
+* Added fake device `fakeSpeechSynthesizer`
+
+#### speechTranscription
+
+* Added nwc device `speechTranscription_nwc_yarp` for the `ISpeechTranscription` interface and the corresponding test
+* Added nws device `speechTranscription_nws_yarp`
+* Added fake device `fakeSpeechTranscription`