jakob.kampichler/libcreate
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Replace boost features with C++11 equivalents (#58)

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* 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>
This commit is contained in:
Jacob Perron 2020-11-01 18:05:17 -08:00 • committed by GitHub
parent 850b011a55
commit 2b9591f0f7
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GPG key ID: 4AEE18F83AFDEB23
17 changed files with 95 additions and 87 deletions
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30
src/serial.cpp
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@ -1,3 +1,5 @@
#include <chrono>
#include <functional>
#include <iostream>
#include "create/serial.h"
@ -5,7 +7,7 @@
namespace create {
Serial::Serial(boost::shared_ptr<Data> d) :
Serial::Serial(std::shared_ptr<Data> d) :
signals(io, SIGINT, SIGTERM),
port(io),
dataReady(false),
@ -31,7 +33,7 @@ namespace create {
}
}
bool Serial::connect(const std::string& portName, const int& baud, boost::function<void()> cb) {
bool Serial::connect(const std::string& portName, const int& baud, std::function<void()> cb) {
using namespace boost::asio;
port.open(portName);
port.set_option(serial_port::baud_rate(baud));
@ -40,7 +42,7 @@ namespace create {
port.set_option(serial_port::stop_bits(serial_port::stop_bits::one));
port.set_option(serial_port::flow_control(serial_port::flow_control::none));
signals.async_wait(boost::bind(&Serial::signalHandler, this, _1, _2));
signals.async_wait(std::bind(&Serial::signalHandler, this, std::placeholders::_1, std::placeholders::_2));
usleep(1000000);
@ -90,17 +92,22 @@ namespace create {
// Start continuously reading one byte at a time
boost::asio::async_read(port,
boost::asio::buffer(&byteRead, 1),
boost::bind(&Serial::onData, shared_from_this(), _1, _2));
std::bind(&Serial::onData,
shared_from_this(),
std::placeholders::_1,
std::placeholders::_2));
ioThread = boost::thread(boost::bind(&boost::asio::io_service::run, &io));
ioThread = std::thread(std::bind(
static_cast<std::size_t(boost::asio::io_service::*)(void)>(
&boost::asio::io_service::run), &io));
// Wait for first complete read to finish
boost::unique_lock<boost::mutex> lock(dataReadyMut);
std::unique_lock<std::mutex> lock(dataReadyMut);
int attempts = 1;
int maxAttempts = 10;
while (!dataReady) {
if (!dataReadyCond.timed_wait(lock, boost::get_system_time() + boost::posix_time::milliseconds(500))) {
if (dataReadyCond.wait_for(lock, std::chrono::milliseconds(500)) == std::cv_status::timeout) {
if (attempts >= maxAttempts) {
CERR("[create::Serial] ", "failed to receive data from Create. Check if robot is powered!");
io.stop();
@ -125,7 +132,7 @@ namespace create {
ioThread.join();
isReading = false;
{
boost::lock_guard<boost::mutex> lock(dataReadyMut);
std::lock_guard<std::mutex> lock(dataReadyMut);
dataReady = false;
}
}
@ -138,7 +145,7 @@ namespace create {
// Notify first data packets ready
{
boost::lock_guard<boost::mutex> lock(dataReadyMut);
std::lock_guard<std::mutex> lock(dataReadyMut);
if (!dataReady) {
dataReady = true;
dataReadyCond.notify_one();
@ -163,7 +170,10 @@ namespace create {
// Read the next byte
boost::asio::async_read(port,
boost::asio::buffer(&byteRead, 1),
boost::bind(&Serial::onData, shared_from_this(), _1, _2));
std::bind(&Serial::onData,
shared_from_this(),
std::placeholders::_1,
std::placeholders::_2));
}
bool Serial::send(const uint8_t* bytes, unsigned int numBytes) {