Modernize CMake. May have problem of missing librt on linux

.gitmodules

+[submodule "blibs/blc_core"]
+	path = blibs/blc_core
+	url = /Users/arnaudblanchard/blaar/blibs/blc_core
+[submodule "blibs/blc_channel"]
+	path = blibs/blc_channel
+	url = /Users/arnaudblanchard/blaar/blibs/blc_channel
+[submodule "blibs/blc_program"]
+	path = blibs/blc_program
+	url = /Users/arnaudblanchard/blaar/blibs/blc_program
+[submodule "blibs/blc_network"]
+	path = blibs/blc_network
+	url = /Users/arnaudblanchard/blaar/blibs/blc_network
+[submodule "bapps"]
+	path = bapps
+	url = /Users/arnaudblanchard/blaar/bapps
+[submodule "blc_channels"]
+	path = blc_channels
+	url = /Users/arnaudblanchard/blaar/blc_channels
+[submodule "raspi"]
+	path = raspi
+	url = git@promethe.u-cergy.fr:blaar/raspi.git
+[submodule "gnuplot"]
+	path = gnuplot
+	url = https://git.u-cergy.fr/blaar/gnuplot.git
+[submodule "gazebo"]
+	path = gazebo
+	url = https://git.u-cergy.fr/blaar/gazebo
+[submodule "blc_webserver"]
+	path = blc_webserver
+	url = http://git.cyu.fr/blaar/blc_webserver
+[submodule "AV_camera"]
+	path = AV_camera
+	url = https://git.cyu.fr/blaar/AV_camera
+[submodule "reachy"]
+	path = reachy
+	url = https://git.cyu.fr/blaar/reachy
+[submodule "blc"]
+	path = blc
+	url = https://git.cyu.fr/blaar/blc
+[submodule "uSockets"]
+	path = uSockets
+	url = https://github.com/uNetworking/uSockets.git
+[submodule "swarm/uSockets"]
+	path = swarm/uSockets
+	url = https://github.com/uNetworking/uSockets.git

AV_camera @ df320a32

+Subproject commit df320a32e60b04d9659183c4573ac514d613edac

bapps @ ec5d0ed4

+Subproject commit ec5d0ed42c4e5289f6d0f206412d902d297630f7

blc @ 19ca8e12

+Subproject commit 19ca8e12d6c3b92d63b87ae9d5c64923fef78358

blc_channels @ f3018879

+Subproject commit f3018879a0780bd9887cb694883ca61ed2fb04b8

blc_webserver @ 0ea7c056

+Subproject commit 0ea7c056cfc34150ea6de5f51fbe66b3cdd93526

blc_channel @ 1a2eb034

+Subproject commit 1a2eb0347dede54f2aa7e67a59abcaa6d55d1c9b

blc_core @ 16dd6151

+Subproject commit 16dd6151a3cc176915571ad69bb902133ee565b1

blc_network @ bd0be001

+Subproject commit bd0be001579975670c0b629344d57a233fd9a998

blc_program @ cce7254f

+Subproject commit cce7254f41cff419959eb7a8ec0fb34de4c1065c

gazebo @ a79bca08

+Subproject commit a79bca083b42363c1ac80d3e7d3769458f1d6030

gnuplot @ cbafdc1c

+Subproject commit cbafdc1cf291639d4c418486d3d474e9037127a5

r_transform/arma_r_transform.cpp

+#include <armadillo>
+#include "arma_r_transform.h"
+
+using namespace arma;
+using namespace std;
+
+
+
+r_transform::r_transform(){
+    
+}
+
+void r_transform::update(){
+
+}
+
+

r_transform/arma_r_transform.h

+//
+//  arma_r_transform.h
+//  r_transform
+//
+//  Created by Arnaud Blanchard on 24/05/2021.
+//
+
+#ifndef arma_r_transform_h
+#define arma_r_transform_h
+
+#include <vector>
+
+class r_transform{
+public:
+    r_transform();
+    void update();
+    
+   
+};
+#endif /* arma_r_transform_h */

raspi @ 62cd96de

+Subproject commit 62cd96de058f1fdd93e4162c54405318d989b105

reachy @ aa29a7e3

+Subproject commit aa29a7e395ab75d62d17aa5b96cea2384c2692d0

uSockets @ 98510ef2

+Subproject commit 98510ef265c7008dd7b7ffe116f8150446cb0a85

torch/test_torch/coreaudio.cpp

+#include <AudioToolbox/AudioToolbox.h>
+#include "coreaudio.h"
+#include "blc_core.h"
+
+void input_queue_callback( void *inUserData, AudioQueueRef inAQ, AudioQueueBufferRef inBuffer, const AudioTimeStamp *inStartTime, UInt32 inNumberPacketDescriptions, const AudioStreamPacketDescription *inPacketDescs ){
+    
+    int result, ready=1;
+
+    
+    memcpy(output.data, inBuffer->mAudioData,  output.size);
+    
+    //Request for next sound buffer
+    AudioQueueEnqueueBuffer(inAQ, inBuffer, 0, nullptr);
+}
+
+void start_acquisition(AudioQueueRef queue, int samplerate){
+    AudioQueueBufferRef buffer;
+    AudioStreamBasicDescription audio_format={};
+    OSStatus err;
+    int i;
+    
+    //OS X audio management
+    audio_format.mSampleRate = samplerate;
+    audio_format.mFormatID= kAudioFormatLinearPCM;
+    audio_format.mFormatFlags=kAudioFormatFlagIsFloat | kLinearPCMFormatFlagIsPacked;
+    audio_format.mBitsPerChannel=8*sizeof(float);
+    
+    audio_format.mChannelsPerFrame=1;
+    audio_format.mBytesPerFrame    = audio_format.mChannelsPerFrame*audio_format.mBitsPerChannel/8;
+    audio_format.mFramesPerPacket  = 1; //1 is for ncompressed value
+    audio_format.mBytesPerPacket   = audio_format.mBytesPerFrame*audio_format.mFramesPerPacket;
+    audio_format.mReserved = 0;
+    
+    err=AudioQueueNewInput(&audio_format, input_queue_callback,  NULL,  NULL, NULL, 0, &queue);
+    if (err){
+        if (err==kAudio_ParamError) EXIT_ON_ERROR("Parameter error");
+        else EXIT_ON_ERROR("Fail to create input audioqueue. Code %d .", err);
+    }
+    
+    err = AudioQueueAllocateBuffer(queue, output.size, &buffer);
+    if (err) EXIT_ON_ERROR("Fail to create input audioqueue. Code %d .", err);
+    err = AudioQueueEnqueueBuffer(queue, buffer[i], 0, NULL);
+    if (err) EXIT_ON_ERROR("AudioQueueEnqueueBuffer Code %d .", err);
+    err=AudioQueueStart(queue, NULL);
+    if (err) EXIT_ON_ERROR("Fail to create input audioqueuestart. Code %d .", err);
+}

torch/test_torch/coreaudio.h

+//
+//  coreaudio.h
+//  test_torch
+//
+//  Created by Arnaud Blanchard on 10/12/2019.
+//
+

uSockets @ 98510ef2

+Subproject commit 98510ef265c7008dd7b7ffe116f8150446cb0a85