Merge pull request #583 from bulwahn/react-to-boost-update

compile also with boost 1.66.0 (resolves #582)

recipes-ros/mavros/libmavconn/0001-compile-also-with-boost-1.66.0.patch

@@ -0,0 +1,107 @@
+From 74e82fa924055edb84ed90d49b9bd45b078df5c4 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+Date: Sat, 17 Feb 2018 17:55:16 +0100
+Subject: [PATCH] compile also with boost >= 1.66.0
+
+In boost 1.66.0, which includes boost-asio 1.12.0, the asio
+interfaces have been changed to follow the "C++ Extensions for
+Networking" Technical Specification [1]. As a consequence,
+resolvers now produce ranges rather than iterators.
+
+In boost < 1.66.0, resolver.resolve returns an iterator that must
+be passed to `std::for_each`. As this iterator in boost < 1.66.0
+does not provide begin() and end() member functions, it cannot be
+simply turned into a proper range.
+For boost >= 1.66.0, resolver.resolve returns a range, which
+can be just iterated through with `for (auto v : _)` syntax.
+
+As it is not possible to have one way to iterate through the result
+independent of the boost version, a preprocessing directive selects
+the proper synactic iteration construction depending on the provided
+boost-asio library version [2].
+
+This way, this commit is backwards compatible with boost < 1.66.0
+and compiles properly with boost >= 1.66.0.
+
+The issue was identified in a build with the cross-compilation tool
+chain provided in the meta-ros OpenEmbedded layer [3].
+
+[1] http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html
+[2] https://github.com/boostorg/asio/commit/0c9cbdfbf217146c096265b5eb56089e8cebe608
+[3] http://github.com/bmwcarit/meta-ros
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+
+Upstream-Status: Accepted [https://github.com/mavlink/mavros/commit/74e82fa92405]
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+---
+ libmavconn/src/tcp.cpp | 20 +++++++++++++-------
+ libmavconn/src/udp.cpp | 20 +++++++++++++-------
+ 2 files changed, 26 insertions(+), 14 deletions(-)
+
+diff --git a/libmavconn/src/tcp.cpp b/libmavconn/src/tcp.cpp
+index adec9fc..655f11c 100644
+--- a/libmavconn/src/tcp.cpp
++++ b/libmavconn/src/tcp.cpp
+@@ -41,13 +41,19 @@ static bool resolve_address_tcp(io_service &io, size_t chan, std::string host, u
+ 	error_code ec;
+ 
+ 	tcp::resolver::query query(host, "");
+-	std::for_each(resolver.resolve(query, ec), tcp::resolver::iterator(),
+-			[&](const tcp::endpoint & q_ep) {
+-				ep = q_ep;
+-				ep.port(port);
+-				result = true;
+-				logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
+-			});
++
++	auto fn = [&](const tcp::endpoint & q_ep) {
++		ep = q_ep;
++		ep.port(port);
++		result = true;
++		logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
++	};
++
++#if BOOST_ASIO_VERSION >= 101200
++	for (auto q_ep : resolver.resolve(query, ec)) fn(q_ep);
++#else
++	std::for_each(resolver.resolve(query, ec), tcp::resolver::iterator(), fn);
++#endif
+ 
+ 	if (ec) {
+ 		logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
+diff --git a/libmavconn/src/udp.cpp b/libmavconn/src/udp.cpp
+index d01b551..be0df47 100644
+--- a/libmavconn/src/udp.cpp
++++ b/libmavconn/src/udp.cpp
+@@ -41,13 +41,19 @@ static bool resolve_address_udp(io_service &io, size_t chan, std::string host, u
+ 	error_code ec;
+ 
+ 	udp::resolver::query query(host, "");
+-	std::for_each(resolver.resolve(query, ec), udp::resolver::iterator(),
+-			[&](const udp::endpoint & q_ep) {
+-				ep = q_ep;
+-				ep.port(port);
+-				result = true;
+-				logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
+-			});
++	
++	auto fn = [&](const udp::endpoint & q_ep) {
++		ep = q_ep;
++		ep.port(port);
++		result = true;
++		logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
++	};
++
++#if BOOST_ASIO_VERSION >= 101200
++	for (auto q_ep : resolver.resolve(query, ec)) fn(q_ep);
++#else
++	std::for_each(resolver.resolve(query, ec), udp::resolver::iterator(), fn);
++#endif
+ 
+ 	if (ec) {
+ 		logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
+-- 
+2.7.4
+

recipes-ros/mavros/libmavconn_0.18.7.bb

@@ -17,3 +17,5 @@ RDEPENDS_${PN} = " \
 require mavros.inc
 
 ROS_PKG_SUBDIR = "libmavconn"
+
+SRC_URI += "file://0001-compile-also-with-boost-1.66.0.patch;striplevel=2"

recipes-ros/ros-canopen/socketcan-interface/0001-compile-also-with-boost-1.66.0.patch

@@ -0,0 +1,45 @@
+From 89b29ca3a3c23ee07bb2df36b95ccfd60af98028 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+Date: Sat, 17 Feb 2018 20:15:12 +0100
+Subject: [PATCH] compile also with boost >= 1.66.0
+
+In boost 1.66.0, which includes boost-asio 1.12.0, the asio
+interfaces have been changed to follow the "C++ Extensions for
+Networking" Technical Specification [1]. As a consequence, the type
+boost::asio::strand has been moved to boost::asio::io_service::strand.
+
+A preprocessing directive ensures backwards compatibility using the
+provided boost-asio version [2], and a comment to clarify the
+minimum boost version that includes the boost-asio version.
+
+[1] http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html
+[2] https://github.com/boostorg/asio/commit/0c9cbdfbf217146c096265b5eb56089e8cebe608
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+
+Upstream-Status: Accepted [https://github.com/ros-industrial/ros_canopen/commit/89b29ca3a3c23ee07bb2df36b95ccfd60af98028]
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+---
+ socketcan_interface/include/socketcan_interface/asio_base.h | 4 ++++
+ 1 file changed, 4 insertions(+)
+
+diff --git a/socketcan_interface/include/socketcan_interface/asio_base.h b/socketcan_interface/include/socketcan_interface/asio_base.h
+index c54ff12..1a14480 100644
+--- a/socketcan_interface/include/socketcan_interface/asio_base.h
++++ b/socketcan_interface/include/socketcan_interface/asio_base.h
+@@ -23,7 +23,11 @@ template<typename Socket> class AsioDriver : public DriverInterface{
+     
+ protected:
+     boost::asio::io_service io_service_;
++#if BOOST_ASIO_VERSION >= 101200 // Boost 1.66+
++    boost::asio::io_context::strand strand_;
++#else
+     boost::asio::strand strand_;
++#endif
+     Socket socket_;
+     Frame input_;
+     
+-- 
+2.7.4
+

recipes-ros/ros-canopen/socketcan-interface_0.6.8.bb

@@ -9,3 +9,4 @@ require ros-canopen.inc
 
 SRC_URI += "file://0001-explicitly-include-iostream-to-compile-with-boost-1..patch;striplevel=2"
 SRC_URI += "file://0001-find-and-link-the-thread-library-properly.patch;striplevel=2"
+SRC_URI += "file://0001-compile-also-with-boost-1.66.0.patch;striplevel=2"