Merge pull request #583 from bulwahn/react-to-boost-update
compile also with boost 1.66.0 (resolves #582)
This commit is contained in:
Dmitry Rozhkov
GitHub
commit
7f2e8db15c
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@ -0,0 +1,107 @@
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From 74e82fa924055edb84ed90d49b9bd45b078df5c4 Mon Sep 17 00:00:00 2001
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From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
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Date: Sat, 17 Feb 2018 17:55:16 +0100
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Subject: [PATCH] compile also with boost >= 1.66.0
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In boost 1.66.0, which includes boost-asio 1.12.0, the asio
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interfaces have been changed to follow the "C++ Extensions for
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Networking" Technical Specification [1]. As a consequence,
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resolvers now produce ranges rather than iterators.
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In boost < 1.66.0, resolver.resolve returns an iterator that must
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be passed to `std::for_each`. As this iterator in boost < 1.66.0
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does not provide begin() and end() member functions, it cannot be
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simply turned into a proper range.
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For boost >= 1.66.0, resolver.resolve returns a range, which
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can be just iterated through with `for (auto v : _)` syntax.
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As it is not possible to have one way to iterate through the result
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independent of the boost version, a preprocessing directive selects
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the proper synactic iteration construction depending on the provided
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boost-asio library version [2].
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This way, this commit is backwards compatible with boost < 1.66.0
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and compiles properly with boost >= 1.66.0.
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The issue was identified in a build with the cross-compilation tool
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chain provided in the meta-ros OpenEmbedded layer [3].
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[1] http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html
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[2] https://github.com/boostorg/asio/commit/0c9cbdfbf217146c096265b5eb56089e8cebe608
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[3] http://github.com/bmwcarit/meta-ros
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Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
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Upstream-Status: Accepted [https://github.com/mavlink/mavros/commit/74e82fa92405]
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Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
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---
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libmavconn/src/tcp.cpp | 20 +++++++++++++-------
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libmavconn/src/udp.cpp | 20 +++++++++++++-------
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2 files changed, 26 insertions(+), 14 deletions(-)
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diff --git a/libmavconn/src/tcp.cpp b/libmavconn/src/tcp.cpp
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index adec9fc..655f11c 100644
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--- a/libmavconn/src/tcp.cpp
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+++ b/libmavconn/src/tcp.cpp
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@@ -41,13 +41,19 @@ static bool resolve_address_tcp(io_service &io, size_t chan, std::string host, u
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error_code ec;
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tcp::resolver::query query(host, "");
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- std::for_each(resolver.resolve(query, ec), tcp::resolver::iterator(),
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- [&](const tcp::endpoint & q_ep) {
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- ep = q_ep;
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- ep.port(port);
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- result = true;
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- logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
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- });
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+
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+ auto fn = [&](const tcp::endpoint & q_ep) {
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+ ep = q_ep;
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+ ep.port(port);
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+ result = true;
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+ logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
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+ };
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+
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+#if BOOST_ASIO_VERSION >= 101200
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+ for (auto q_ep : resolver.resolve(query, ec)) fn(q_ep);
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+#else
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+ std::for_each(resolver.resolve(query, ec), tcp::resolver::iterator(), fn);
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+#endif
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if (ec) {
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logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
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diff --git a/libmavconn/src/udp.cpp b/libmavconn/src/udp.cpp
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index d01b551..be0df47 100644
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--- a/libmavconn/src/udp.cpp
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+++ b/libmavconn/src/udp.cpp
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@@ -41,13 +41,19 @@ static bool resolve_address_udp(io_service &io, size_t chan, std::string host, u
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error_code ec;
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udp::resolver::query query(host, "");
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- std::for_each(resolver.resolve(query, ec), udp::resolver::iterator(),
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- [&](const udp::endpoint & q_ep) {
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- ep = q_ep;
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- ep.port(port);
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- result = true;
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- logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
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- });
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+
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+ auto fn = [&](const udp::endpoint & q_ep) {
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+ ep = q_ep;
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+ ep.port(port);
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+ result = true;
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+ logDebug(PFXd "host %s resolved as %s", chan, host.c_str(), to_string_ss(ep).c_str());
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+ };
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+
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+#if BOOST_ASIO_VERSION >= 101200
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+ for (auto q_ep : resolver.resolve(query, ec)) fn(q_ep);
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+#else
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+ std::for_each(resolver.resolve(query, ec), udp::resolver::iterator(), fn);
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+#endif
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if (ec) {
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logWarn(PFXd "resolve error: %s", chan, ec.message().c_str());
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--
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2.7.4
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@ -17,3 +17,5 @@ RDEPENDS_${PN} = " \
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require mavros.inc
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ROS_PKG_SUBDIR = "libmavconn"
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SRC_URI += "file://0001-compile-also-with-boost-1.66.0.patch;striplevel=2"
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@ -0,0 +1,45 @@
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From 89b29ca3a3c23ee07bb2df36b95ccfd60af98028 Mon Sep 17 00:00:00 2001
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From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
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Date: Sat, 17 Feb 2018 20:15:12 +0100
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Subject: [PATCH] compile also with boost >= 1.66.0
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In boost 1.66.0, which includes boost-asio 1.12.0, the asio
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interfaces have been changed to follow the "C++ Extensions for
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Networking" Technical Specification [1]. As a consequence, the type
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boost::asio::strand has been moved to boost::asio::io_service::strand.
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A preprocessing directive ensures backwards compatibility using the
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provided boost-asio version [2], and a comment to clarify the
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minimum boost version that includes the boost-asio version.
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[1] http://www.boost.org/doc/libs/1_66_0/doc/html/boost_asio/net_ts.html
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[2] https://github.com/boostorg/asio/commit/0c9cbdfbf217146c096265b5eb56089e8cebe608
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Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
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Upstream-Status: Accepted [https://github.com/ros-industrial/ros_canopen/commit/89b29ca3a3c23ee07bb2df36b95ccfd60af98028]
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Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
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---
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socketcan_interface/include/socketcan_interface/asio_base.h | 4 ++++
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1 file changed, 4 insertions(+)
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diff --git a/socketcan_interface/include/socketcan_interface/asio_base.h b/socketcan_interface/include/socketcan_interface/asio_base.h
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index c54ff12..1a14480 100644
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--- a/socketcan_interface/include/socketcan_interface/asio_base.h
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+++ b/socketcan_interface/include/socketcan_interface/asio_base.h
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@@ -23,7 +23,11 @@ template<typename Socket> class AsioDriver : public DriverInterface{
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protected:
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boost::asio::io_service io_service_;
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+#if BOOST_ASIO_VERSION >= 101200 // Boost 1.66+
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+ boost::asio::io_context::strand strand_;
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+#else
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boost::asio::strand strand_;
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+#endif
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Socket socket_;
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Frame input_;
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--
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2.7.4
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@ -9,3 +9,4 @@ require ros-canopen.inc
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SRC_URI += "file://0001-explicitly-include-iostream-to-compile-with-boost-1..patch;striplevel=2"
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SRC_URI += "file://0001-find-and-link-the-thread-library-properly.patch;striplevel=2"
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SRC_URI += "file://0001-compile-also-with-boost-1.66.0.patch;striplevel=2"
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