Add portaudio dependency and enable audio-related devices in YARP

[traversaro]

This PR add the dependency on portaudio on Linux, macOS and Windows, and enable by default the compilation of the YARP devices related to audio. Fix #284 .

[traversaro]

For the members of iCub Tech's Team Code, this PR will mean that from 2020.11 the audio support of YARP should also be directly available in robot-bazaar's Docker images. @vtikha @AlexAntn @ilaria-carlini

[traversaro]

Note that this PR may fail for Windows/Unstable as robotology/ycm-cmake-modules#357 still needs to be propagated to the master branch of ycm, but for that we just need to wait one day.

[traversaro]

There are a few open problems.

The Windows compilation is still failing, mainly because we were still using YCM 0.11 as a stable branch, this was fixed in 9e1fb78 .

Other problems include:

macOS

On macOS, the configuration fails with:

CMake Error at /usr/local/Cellar/cmake/3.18.4/share/cmake/Modules/SelectLibraryConfigurations.cmake:71 (set):
  Syntax error in cmake code at

    /usr/local/Cellar/cmake/3.18.4/share/cmake/Modules/SelectLibraryConfigurations.cmake:71

  when parsing string

    ${PortAudio_-FRAMEWORK COREAUDIO_LIBRARY}

  Invalid character (' ') in a variable name: 'PortAudio_-FRAMEWORK'
Call Stack (most recent call first):
  /Users/runner/work/robotology-superbuild/robotology-superbuild/build/install/share/YCM/modules/StandardFindModule.cmake:153 (select_library_configurations)
  /Users/runner/work/robotology-superbuild/robotology-superbuild/build/install/share/YCM/find-modules/FindPortAudio.cmake:31 (standard_find_module)
  cmake/YarpFindDependencies.cmake:379 (find_package)
  CMakeLists.txt:61 (include)

Releases

The currently tested release (2020.05 and 2020.08) will be broken as they will not have the necessary fixes in their YCM version. As the 2020.11 release is fast approaching, I think we can simply drop these releases from the master branch CIs (anyone that uses them can simply use the related tags) and add the 2020.11 release instead.

[traversaro]

The macOS problem is due to the fact that portaudio-2.0 pkg-config file structure is:

Mac-1603138180646:build runner$ cat /usr/local/lib/pkgconfig/portaudio-2.0.pc
prefix=/usr/local/Cellar/portaudio/19.6.0
exec_prefix=${prefix}
libdir=${exec_prefix}/lib
includedir=${prefix}/include

Name: PortAudio
Description: Portable audio I/O
Requires:
Version: 19

Libs: -L${libdir} -lportaudio -framework CoreAudio -framework AudioToolbox -framework AudioUnit -framework Carbon
Cflags: -I${includedir}
Mac-1603138180646:build runner$

and probably the YCM's standard_find_module is not able to deal with the -framework options passed as part of Libs.

[traversaro]

Additional macOS-related fixes:

• StandardFindModule: Fix handling of -framework options in pkg-config files ycm-cmake-modules#358
• devices: Fix include directories variable for PortAudio yarp#2387

[traversaro]

Additional macOS-related fixes:

* [robotology/ycm#358](https://github.com/robotology/ycm/pull/358)

* [robotology/yarp#2387](https://github.com/robotology/yarp/pull/2387)

As this PR have been merged and I bumper the commits of YARP and YCM in the 2020.11 release, I think the PR is finally ready to be merged.