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>

include/create/create.h

@@ -32,9 +32,9 @@ POSSIBILITY OF SUCH DAMAGE.
 #ifndef CREATE_H
 #define CREATE_H
 
-#include <boost/shared_ptr.hpp>
 #include <boost/numeric/ublas/matrix.hpp>
 #include <chrono>
+#include <memory>
 #include <string>
 #include <unistd.h>
 
@@ -96,8 +96,8 @@ namespace create {
       bool updateLEDs();
 
     protected:
-      boost::shared_ptr<create::Data> data;
-      boost::shared_ptr<create::Serial> serial;
+      std::shared_ptr<create::Data> data;
+      std::shared_ptr<create::Serial> serial;
 
     public:
       /**

include/create/data.h

@@ -32,9 +32,8 @@ POSSIBILITY OF SUCH DAMAGE.
 #ifndef CREATE_DATA_H
 #define CREATE_DATA_H
 
-#include <boost/shared_ptr.hpp>
-#include <boost/make_shared.hpp>
 #include <map>
+#include <memory>
 #include <vector>
 
 #include "create/packet.h"
@@ -43,7 +42,7 @@ POSSIBILITY OF SUCH DAMAGE.
 namespace create {
   class Data {
     private:
-      std::map<uint8_t, boost::shared_ptr<Packet> > packets;
+      std::map<uint8_t, std::shared_ptr<Packet> > packets;
       uint32_t totalDataBytes;
       std::vector<uint8_t> ids;
 
@@ -52,7 +51,7 @@ namespace create {
       ~Data();
 
       bool isValidPacketID(const uint8_t id) const;
-      boost::shared_ptr<Packet> getPacket(const uint8_t id);
+      std::shared_ptr<Packet> getPacket(const uint8_t id);
       void validateAll();
       uint32_t getTotalDataBytes() const;
       uint8_t getNumPackets() const;

include/create/packet.h

@@ -31,15 +31,15 @@ POSSIBILITY OF SUCH DAMAGE.
 #ifndef CREATE_PACKET_H
 #define CREATE_PACKET_H
 
-#include <boost/thread/mutex.hpp>
+#include <mutex>
 
 namespace create {
   class Packet {
     private:
       uint16_t data;
       uint16_t tmpData;
-      mutable boost::mutex dataMutex;
-      mutable boost::mutex tmpDataMutex;
+      mutable std::mutex dataMutex;
+      mutable std::mutex tmpDataMutex;
 
     protected:
       // Thread safe

include/create/serial.h

@@ -35,19 +35,20 @@ POSSIBILITY OF SUCH DAMAGE.
 #ifndef CREATE_SERIAL_H
 #define CREATE_SERIAL_H
 
+#include <condition_variable>
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <thread>
+
 #include <boost/asio.hpp>
-#include <boost/thread.hpp>
-#include <boost/thread/condition_variable.hpp>
-#include <boost/function.hpp>
-#include <boost/shared_ptr.hpp>
-#include <boost/enable_shared_from_this.hpp>
 
 #include "create/data.h"
 #include "create/types.h"
 #include "create/util.h"
 
 namespace create {
-  class Serial : public boost::enable_shared_from_this<Serial> {
+  class Serial : public std::enable_shared_from_this<Serial> {
 
     protected:
       boost::asio::io_service io;
@@ -55,9 +56,9 @@ namespace create {
       boost::asio::serial_port port;
 
     private:
-      boost::thread ioThread;
-      boost::condition_variable dataReadyCond;
-      boost::mutex dataReadyMut;
+      std::thread ioThread;
+      std::condition_variable dataReadyCond;
+      std::mutex dataReadyMut;
       bool dataReady;
       bool isReading;
       bool firstRead;
@@ -66,13 +67,13 @@ namespace create {
       // Callback executed when data arrives from Create
       void onData(const boost::system::error_code& e, const std::size_t& size);
       // Callback to execute once data arrives
-      boost::function<void()> callback;
+      std::function<void()> callback;
       // Start and stop reading data from Create
       bool startReading();
       void stopReading();
 
     protected:
-      boost::shared_ptr<Data> data;
+      std::shared_ptr<Data> data;
       // These are for possible diagnostics
       uint64_t corruptPackets;
       uint64_t totalPackets;
@@ -85,9 +86,9 @@ namespace create {
       void notifyDataReady();
 
     public:
-      Serial(boost::shared_ptr<Data> data);
+      Serial(std::shared_ptr<Data> data);
       ~Serial();
-      bool connect(const std::string& port, const int& baud = 115200, boost::function<void()> cb = 0);
+      bool connect(const std::string& port, const int& baud = 115200, std::function<void()> cb = 0);
       void disconnect();
       inline bool connected() const { return port.is_open(); };
       bool send(const uint8_t* bytes, const uint32_t numBytes);

include/create/serial_query.h

@@ -36,11 +36,9 @@ POSSIBILITY OF SUCH DAMAGE.
 #ifndef CREATE_SERIAL_QUERY_H
 #define CREATE_SERIAL_QUERY_H
 
+#include <memory>
+
 #include <boost/asio.hpp>
-#include <boost/thread.hpp>
-#include <boost/thread/condition_variable.hpp>
-#include <boost/function.hpp>
-#include <boost/shared_ptr.hpp>
 
 #include "create/data.h"
 #include "create/types.h"
@@ -69,7 +67,7 @@ namespace create {
       void processByte(uint8_t byteRead);
 
     public:
-      SerialQuery(boost::shared_ptr<Data> data);
+      SerialQuery(std::shared_ptr<Data> data);
   };
 }  // namespace create
 

include/create/serial_stream.h

@@ -35,11 +35,7 @@ POSSIBILITY OF SUCH DAMAGE.
 #ifndef CREATE_SERIAL_STREAM_H
 #define CREATE_SERIAL_STREAM_H
 
-#include <boost/asio.hpp>
-#include <boost/thread.hpp>
-#include <boost/thread/condition_variable.hpp>
-#include <boost/function.hpp>
-#include <boost/shared_ptr.hpp>
+#include <memory>
 
 #include "create/data.h"
 #include "create/types.h"
@@ -73,7 +69,7 @@ namespace create {
       void processByte(uint8_t byteRead);
 
     public:
-      SerialStream(boost::shared_ptr<Data> data, const uint8_t& header = create::util::STREAM_HEADER);
+      SerialStream(std::shared_ptr<Data> data, const uint8_t& header = create::util::STREAM_HEADER);
 
   };
 }  // namespace create

include/create/util.h

@@ -32,6 +32,8 @@ POSSIBILITY OF SUCH DAMAGE.
 #ifndef CREATE_UTIL_H
 #define CREATE_UTIL_H
 
+#include <cmath>
+
 #define COUT(prefix,msg) (std::cout<<prefix<<msg<<std::endl)
 #define CERR(prefix,msg) (std::cerr<<prefix<<msg<<std::endl)