Replace boost features with C++11 equivalents (#58)
* Replace boost features with C++11 equivalents Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Include <cmath> in util.h Needed for std::abs Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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Jacob Perron
GitHub
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2b9591f0f7
17 changed files with 95 additions and 87 deletions
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@ -1,8 +1,7 @@
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#include <boost/bind.hpp>
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#include <boost/make_shared.hpp>
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#include <iostream>
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#include <cmath>
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#include <ctime>
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#include <memory>
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#include <assert.h>
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#include "create/create.h"
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@ -42,11 +41,11 @@ namespace create {
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poseCovar = Matrix(3, 3, 0.0);
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requestedLeftVel = 0;
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requestedRightVel = 0;
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data = boost::shared_ptr<Data>(new Data(model.getVersion()));
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data = std::shared_ptr<Data>(new Data(model.getVersion()));
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if (model.getVersion() == V_1) {
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serial = boost::make_shared<SerialQuery>(data);
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serial = std::make_shared<SerialQuery>(data);
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} else {
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serial = boost::make_shared<SerialStream>(data);
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serial = std::make_shared<SerialStream>(data);
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}
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}
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@ -273,7 +272,7 @@ namespace create {
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float maxWait = 30; // seconds
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float retryInterval = 5; //seconds
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time(&start);
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while (!serial->connect(port, baud, boost::bind(&Create::onData, this)) && !timeout) {
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while (!serial->connect(port, baud, std::bind(&Create::onData, this)) && !timeout) {
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time(&now);
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if (difftime(now, start) > maxWait) {
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timeout = true;
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10
src/data.cpp
10
src/data.cpp
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@ -1,6 +1,6 @@
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#include "create/data.h"
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#define ADD_PACKET(id,nbytes,info,enabledVersion) if ((enabledVersion) & version) packets[id]=boost::make_shared<Packet>(nbytes,info)
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#define ADD_PACKET(id,nbytes,info,enabledVersion) if ((enabledVersion) & version) packets[id]=std::make_shared<Packet>(nbytes,info)
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namespace create {
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@ -45,7 +45,7 @@ namespace create {
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ADD_PACKET(ID_STASIS, 1, "stasis", V_3);
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totalDataBytes = 0;
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for (std::map<uint8_t, boost::shared_ptr<Packet> >::iterator it = packets.begin();
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for (std::map<uint8_t, std::shared_ptr<Packet> >::iterator it = packets.begin();
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it != packets.end();
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++it) {
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ids.push_back(it->first);
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@ -62,15 +62,15 @@ namespace create {
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return false;
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}
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boost::shared_ptr<Packet> Data::getPacket(uint8_t id) {
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std::shared_ptr<Packet> Data::getPacket(uint8_t id) {
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if (isValidPacketID(id)) {
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return packets[id];
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}
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return boost::shared_ptr<Packet>();
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return std::shared_ptr<Packet>();
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}
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void Data::validateAll() {
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for (std::map<uint8_t, boost::shared_ptr<Packet> >::iterator it = packets.begin();
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for (std::map<uint8_t, std::shared_ptr<Packet> >::iterator it = packets.begin();
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it != packets.end();
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++it) {
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it->second->validate();
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@ -1,3 +1,5 @@
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#include <memory>
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#include "create/packet.h"
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namespace create {
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@ -11,22 +13,22 @@ namespace create {
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Packet::~Packet() { }
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void Packet::setDataToValidate(const uint16_t& tmp) {
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boost::mutex::scoped_lock lock(tmpDataMutex);
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std::lock_guard<std::mutex> lock(tmpDataMutex);
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tmpData = tmp;
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}
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void Packet::validate() {
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boost::mutex::scoped_lock lock(tmpDataMutex);
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std::lock_guard<std::mutex> lock(tmpDataMutex);
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setData(tmpData);
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}
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void Packet::setData(const uint16_t& d) {
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boost::mutex::scoped_lock lock(dataMutex);
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std::lock_guard<std::mutex> lock(dataMutex);
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data = d;
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}
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uint16_t Packet::getData() const {
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boost::mutex::scoped_lock lock(dataMutex);
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std::lock_guard<std::mutex> lock(dataMutex);
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return data;
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}
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@ -1,3 +1,5 @@
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#include <chrono>
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#include <functional>
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#include <iostream>
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#include "create/serial.h"
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@ -5,7 +7,7 @@
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namespace create {
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Serial::Serial(boost::shared_ptr<Data> d) :
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Serial::Serial(std::shared_ptr<Data> d) :
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signals(io, SIGINT, SIGTERM),
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port(io),
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dataReady(false),
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@ -31,7 +33,7 @@ namespace create {
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}
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}
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bool Serial::connect(const std::string& portName, const int& baud, boost::function<void()> cb) {
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bool Serial::connect(const std::string& portName, const int& baud, std::function<void()> cb) {
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using namespace boost::asio;
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port.open(portName);
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port.set_option(serial_port::baud_rate(baud));
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@ -40,7 +42,7 @@ namespace create {
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port.set_option(serial_port::stop_bits(serial_port::stop_bits::one));
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port.set_option(serial_port::flow_control(serial_port::flow_control::none));
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signals.async_wait(boost::bind(&Serial::signalHandler, this, _1, _2));
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signals.async_wait(std::bind(&Serial::signalHandler, this, std::placeholders::_1, std::placeholders::_2));
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usleep(1000000);
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@ -90,17 +92,22 @@ namespace create {
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// Start continuously reading one byte at a time
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boost::asio::async_read(port,
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boost::asio::buffer(&byteRead, 1),
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boost::bind(&Serial::onData, shared_from_this(), _1, _2));
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std::bind(&Serial::onData,
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shared_from_this(),
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std::placeholders::_1,
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std::placeholders::_2));
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ioThread = boost::thread(boost::bind(&boost::asio::io_service::run, &io));
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ioThread = std::thread(std::bind(
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static_cast<std::size_t(boost::asio::io_service::*)(void)>(
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&boost::asio::io_service::run), &io));
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// Wait for first complete read to finish
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boost::unique_lock<boost::mutex> lock(dataReadyMut);
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std::unique_lock<std::mutex> lock(dataReadyMut);
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int attempts = 1;
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int maxAttempts = 10;
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while (!dataReady) {
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if (!dataReadyCond.timed_wait(lock, boost::get_system_time() + boost::posix_time::milliseconds(500))) {
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if (dataReadyCond.wait_for(lock, std::chrono::milliseconds(500)) == std::cv_status::timeout) {
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if (attempts >= maxAttempts) {
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CERR("[create::Serial] ", "failed to receive data from Create. Check if robot is powered!");
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io.stop();
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@ -125,7 +132,7 @@ namespace create {
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ioThread.join();
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isReading = false;
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{
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boost::lock_guard<boost::mutex> lock(dataReadyMut);
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std::lock_guard<std::mutex> lock(dataReadyMut);
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dataReady = false;
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}
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}
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@ -138,7 +145,7 @@ namespace create {
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// Notify first data packets ready
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{
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boost::lock_guard<boost::mutex> lock(dataReadyMut);
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std::lock_guard<std::mutex> lock(dataReadyMut);
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if (!dataReady) {
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dataReady = true;
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dataReadyCond.notify_one();
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@ -163,7 +170,10 @@ namespace create {
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// Read the next byte
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boost::asio::async_read(port,
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boost::asio::buffer(&byteRead, 1),
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boost::bind(&Serial::onData, shared_from_this(), _1, _2));
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std::bind(&Serial::onData,
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shared_from_this(),
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std::placeholders::_1,
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std::placeholders::_2));
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}
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bool Serial::send(const uint8_t* bytes, unsigned int numBytes) {
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@ -1,4 +1,5 @@
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#include <iostream>
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#include <memory>
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#include "create/serial_query.h"
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#include "create/types.h"
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@ -7,7 +8,7 @@
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namespace create {
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SerialQuery::SerialQuery(boost::shared_ptr<Data> d) : Serial(d),
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SerialQuery::SerialQuery(std::shared_ptr<Data> d) : Serial(d),
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streamRecoveryTimer(io),
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packetID(ID_BUMP_WHEELDROP),
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packetByte(0),
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@ -30,7 +31,8 @@ namespace create {
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send(requestPacket, 2);
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// Automatically resend request if no response is received
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streamRecoveryTimer.expires_from_now(boost::posix_time::milliseconds(50));
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streamRecoveryTimer.async_wait(boost::bind(&SerialQuery::restartSensorStream, this, _1));
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streamRecoveryTimer.async_wait(
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std::bind(&SerialQuery::restartSensorStream, this, std::placeholders::_1));
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}
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void SerialQuery::restartSensorStream(const boost::system::error_code& err) {
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@ -1,11 +1,12 @@
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#include <iostream>
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#include <memory>
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#include "create/serial_stream.h"
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#include "create/types.h"
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namespace create {
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SerialStream::SerialStream(boost::shared_ptr<Data> d, const uint8_t& header) : Serial(d), readState(READ_HEADER), headerByte(header) {
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SerialStream::SerialStream(std::shared_ptr<Data> d, const uint8_t& header) : Serial(d), readState(READ_HEADER), headerByte(header) {
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}
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bool SerialStream::startSensorStream() {
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