Merge remote-tracking branch 'cf/io-service' into next

Replace boost::asio::io_service (deprecated since Boost 1.66) by boost::asio::io_context when Boost is 1.66 or above.

boost::asio::io_service is now deprecated and eventually will be removed from future Boost versions. This fix avoids a future compilation break.

docs/changelog

@@ -37,6 +37,7 @@
 - Usage of clang-tidy integrated into CMake scripts. New option -DENABLE_CLANG_TIDY=ON executes clang-tidy along with compilation. Requires clang compiler.
 - Applied clang-tidy checks and fixes related to readability: readability-container-size-empty, readability-identifier-naming, readability-inconsistent-declaration-parameter-name, readability-named-parameter, readability-non-const-parameter, readability-string-compare.
 - Improved includes selection following suggestions by include-what-you-use (see https://include-what-you-use.org/), allowing faster compiles, fewer recompiles and making refactoring easier.
+- Deprecated boost::asio::io_service replaced by boost::asio::io_context if Boost > 1.65
 
 
 ### Improvements in Portability:

src/algorithms/PVT/libs/CMakeLists.txt

@@ -87,6 +87,13 @@ target_include_directories(pvt_libs
 
 target_compile_definitions(pvt_libs PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
 
+if(Boost_VERSION VERSION_GREATER "106500")
+    target_compile_definitions(pvt_libs
+        PUBLIC
+            -DBOOST_GREATER_1_65
+    )
+endif()
+
 if(OS_IS_MACOSX)
     if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")  # not AppleClang
         target_compile_definitions(pvt_libs

src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc

@@ -35,7 +35,7 @@
 #include <sstream>
 
 
-Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool protobuf_enabled) : socket{io_service}
+Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool protobuf_enabled) : socket{io_context}
 {
     for (const auto& address : addresses)
         {

src/algorithms/PVT/libs/monitor_pvt_udp_sink.h

@@ -36,6 +36,12 @@
 #include "serdes_monitor_pvt.h"
 #include <boost/asio.hpp>
 
+#if BOOST_GREATER_1_65
+using b_io_context = boost::asio::io_context;
+#else
+using b_io_context = boost::asio::io_service;
+#endif
+
 class Monitor_Pvt_Udp_Sink
 {
 public:
@@ -43,7 +49,7 @@ public:
     bool write_monitor_pvt(const Monitor_Pvt &monitor_pvt);
 
 private:
-    boost::asio::io_service io_service;
+    b_io_context io_context;
     boost::asio::ip::udp::socket socket;
     boost::system::error_code error;
     std::vector<boost::asio::ip::udp::endpoint> endpoints;

src/algorithms/PVT/libs/rtcm.h

@@ -56,6 +56,12 @@
 #include <utility>
 #include <vector>
 
+#if BOOST_GREATER_1_65
+using b_io_context = boost::asio::io_context;
+#else
+using b_io_context = boost::asio::io_service;
+#endif
+
 
 /*!
  * \brief This class implements the generation and reading of some Message Types
@@ -757,7 +763,7 @@ private:
         : public std::enable_shared_from_this<Tcp_Internal_Client>
     {
     public:
-        Tcp_Internal_Client(boost::asio::io_service& io_context,
+        Tcp_Internal_Client(b_io_context& io_context,
             boost::asio::ip::tcp::resolver::iterator endpoint_iterator)
             : io_context_(io_context), socket_(io_context)
         {
@@ -835,7 +841,7 @@ private:
                 });
         }
 
-        boost::asio::io_service& io_context_;
+        b_io_context& io_context_;
         boost::asio::ip::tcp::socket socket_;
         Rtcm_Message read_msg_;
         std::deque<Rtcm_Message> write_msgs_;
@@ -845,7 +851,7 @@ private:
     class Queue_Reader
     {
     public:
-        Queue_Reader(boost::asio::io_service& io_context, std::shared_ptr<Concurrent_Queue<std::string> >& queue, int32_t port) : queue_(queue)
+        Queue_Reader(b_io_context& io_context, std::shared_ptr<Concurrent_Queue<std::string> >& queue, int32_t port) : queue_(queue)
         {
             boost::asio::ip::tcp::resolver resolver(io_context);
             std::string host("localhost");
@@ -883,7 +889,7 @@ private:
     class Tcp_Server
     {
     public:
-        Tcp_Server(boost::asio::io_service& io_context, const boost::asio::ip::tcp::endpoint& endpoint)
+        Tcp_Server(b_io_context& io_context, const boost::asio::ip::tcp::endpoint& endpoint)
             : acceptor_(io_context), socket_(io_context)
         {
             acceptor_.open(endpoint.protocol());
@@ -950,7 +956,7 @@ private:
         bool start_session = true;
     };
 
-    boost::asio::io_service io_context;
+    b_io_context io_context;
     std::shared_ptr<Concurrent_Queue<std::string> > rtcm_message_queue;
     std::thread t;
     std::thread tq;

src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt

@@ -85,6 +85,13 @@ if(OS_IS_MACOSX)
     endif()
 endif()
 
+if(Boost_VERSION VERSION_GREATER "106500")
+    target_compile_definitions(signal_source_gr_blocks
+        PUBLIC
+            -DBOOST_GREATER_1_65
+    )
+endif()
+
 if(ENABLE_CLANG_TIDY)
     if(CLANG_TIDY_EXE)
         set_target_properties(signal_source_gr_blocks

src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc

@@ -65,7 +65,7 @@ rtl_tcp_signal_source_c::rtl_tcp_signal_source_c(const std::string &address,
     : gr::sync_block("rtl_tcp_signal_source_c",
           gr::io_signature::make(0, 0, 0),
           gr::io_signature::make(1, 1, sizeof(gr_complex))),
-      socket_(io_service_),
+      socket_(io_context_),
       data_(RTL_TCP_PAYLOAD_SIZE),
       flip_iq_(flip_iq),
       buffer_(RTL_TCP_BUFFER_SIZE),
@@ -147,14 +147,14 @@ rtl_tcp_signal_source_c::rtl_tcp_signal_source_c(const std::string &address,
     boost::asio::async_read(socket_, boost::asio::buffer(data_),
         boost::bind(&rtl_tcp_signal_source_c::handle_read,
             this, _1, _2));
-    boost::thread(boost::bind(&boost::asio::io_service::run, &io_service_));
+    boost::thread(boost::bind(&b_io_context::run, &io_context_));
 }
 
 
 rtl_tcp_signal_source_c::~rtl_tcp_signal_source_c()  // NOLINT(modernize-use-equals-default)
 {
     mutex_.unlock();
-    io_service_.stop();
+    io_context_.stop();
     not_empty_.notify_one();
     not_full_.notify_one();
 }
@@ -289,7 +289,7 @@ void rtl_tcp_signal_source_c::handle_read(const boost::system::error_code &ec,
             std::cout << "Error during read: " << ec << std::endl;
             LOG(WARNING) << "Error during read: " << ec;
             boost::mutex::scoped_lock lock(mutex_);
-            io_service_.stop();
+            io_context_.stop();
             not_empty_.notify_one();
         }
     else
@@ -334,7 +334,7 @@ int rtl_tcp_signal_source_c::work(int noutput_items,
 {
     auto *out = reinterpret_cast<gr_complex *>(output_items[0]);
     int i = 0;
-    if (io_service_.stopped())
+    if (io_context_.stopped())
         {
             return -1;
         }

src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.h

@@ -52,6 +52,12 @@ class rtl_tcp_signal_source_c;
 
 using rtl_tcp_signal_source_c_sptr = boost::shared_ptr<rtl_tcp_signal_source_c>;
 
+#if BOOST_GREATER_1_65
+using b_io_context = boost::asio::io_context;
+#else
+using b_io_context = boost::asio::io_service;
+#endif
+
 rtl_tcp_signal_source_c_sptr
 rtl_tcp_make_signal_source_c(const std::string &address,
     int16_t port,
@@ -91,7 +97,7 @@ private:
     Rtl_Tcp_Dongle_Info info_;
 
     // IO members
-    boost::asio::io_service io_service_;
+    b_io_context io_context_;
     boost::asio::ip::tcp::socket socket_;
     std::vector<unsigned char> data_;
     bool flip_iq_;
@@ -117,7 +123,7 @@ private:
 
     inline bool not_empty() const
     {
-        return unread_ > 0 || io_service_.stopped();
+        return unread_ > 0 || io_context_.stopped();
     }
 };
 

src/algorithms/tracking/libs/CMakeLists.txt

@@ -93,6 +93,13 @@ target_include_directories(tracking_libs
         ${OPT_TRACKING_INCLUDES}
 )
 
+if(Boost_VERSION VERSION_GREATER "106500")
+    target_compile_definitions(tracking_libs
+        PUBLIC
+            -DBOOST_GREATER_1_65
+    )
+endif()
+
 if(OS_IS_MACOSX)
     if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")  # not AppleClang
         target_compile_definitions(tracking_libs

src/algorithms/tracking/libs/tcp_communication.cc

@@ -35,7 +35,7 @@
 #include <string>
 
 
-Tcp_Communication::Tcp_Communication() : tcp_socket_(io_service_) {}  // NOLINT
+Tcp_Communication::Tcp_Communication() : tcp_socket_(io_context_) {}  // NOLINT
 
 
 Tcp_Communication::~Tcp_Communication() = default;
@@ -47,7 +47,7 @@ int Tcp_Communication::listen_tcp_connection(size_t d_port_, size_t d_port_ch0_)
         {
             // Specify IP type and port
             boost::asio::ip::tcp::endpoint endpoint(boost::asio::ip::tcp::v4(), d_port_);
-            boost::asio::ip::tcp::acceptor acceptor(io_service_, endpoint);
+            boost::asio::ip::tcp::acceptor acceptor(io_context_, endpoint);
 
             if (d_port_ == d_port_ch0_)
                 {

src/algorithms/tracking/libs/tcp_communication.h

@@ -36,6 +36,12 @@
 #include <boost/array.hpp>
 #include <boost/asio.hpp>
 
+#if BOOST_GREATER_1_65
+using b_io_context = boost::asio::io_context;
+#else
+using b_io_context = boost::asio::io_service;
+#endif
+
 #define NUM_TX_VARIABLES_GALILEO_E1 13
 #define NUM_TX_VARIABLES_GPS_L1_CA 9
 #define NUM_RX_VARIABLES 4
@@ -55,7 +61,7 @@ public:
     void close_tcp_connection(size_t d_port_);
 
 private:
-    boost::asio::io_service io_service_;
+    b_io_context io_context_;
     boost::asio::ip::tcp::socket tcp_socket_;
 };
 

src/core/monitor/CMakeLists.txt

@@ -59,6 +59,15 @@ target_include_directories(core_monitor
         ${PROTO_INCLUDE_HEADERS}
 )
 
+
+if(Boost_VERSION VERSION_GREATER "106500")
+    target_compile_definitions(core_monitor
+        PUBLIC
+            -DBOOST_GREATER_1_65
+    )
+endif()
+
+
 if(OS_IS_MACOSX)
     if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")  # not AppleClang
         target_compile_definitions(core_monitor

src/core/monitor/gnss_synchro_udp_sink.cc

@@ -35,7 +35,7 @@
 #include <iostream>
 #include <sstream>
 
-Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool enable_protobuf) : socket{io_service}
+Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool enable_protobuf) : socket{io_context}
 {
     use_protobuf = enable_protobuf;
     if (enable_protobuf)

src/core/monitor/gnss_synchro_udp_sink.h

@@ -40,6 +40,11 @@
 #include <string>
 #include <vector>
 
+#if BOOST_GREATER_1_65
+using b_io_context = boost::asio::io_context;
+#else
+using b_io_context = boost::asio::io_service;
+#endif
 
 /*!
  * \brief This class sends serialized Gnss_Synchro objects
@@ -52,7 +57,7 @@ public:
     bool write_gnss_synchro(const std::vector<Gnss_Synchro>& stocks);
 
 private:
-    boost::asio::io_service io_service;
+    b_io_context io_context;
     boost::asio::ip::udp::socket socket;
     boost::system::error_code error;
     std::vector<boost::asio::ip::udp::endpoint> endpoints;

src/core/receiver/CMakeLists.txt

@@ -129,6 +129,12 @@ if(ENABLE_CUDA)
     target_compile_definitions(core_receiver PRIVATE -DCUDA_GPU_ACCEL=1)
 endif()
 
+if(Boost_VERSION VERSION_GREATER "106500")
+    target_compile_definitions(core_receiver
+        PRIVATE
+            -DBOOST_GREATER_1_65
+    )
+endif()
 
 target_link_libraries(core_receiver
     PUBLIC

src/core/receiver/tcp_cmd_interface.cc

@@ -39,6 +39,11 @@
 #include <sstream>    // for stringstream
 #include <utility>    // for move
 
+#if BOOST_GREATER_1_65
+using b_io_context = boost::asio::io_context;
+#else
+using b_io_context = boost::asio::io_service;
+#endif
 
 TcpCmdInterface::TcpCmdInterface()
 {
@@ -305,10 +310,10 @@ void TcpCmdInterface::run_cmd_server(int tcp_port)
     boost::system::error_code not_throw;
 
     // Socket and acceptor
-    boost::asio::io_service service;
+    b_io_context context;
     try
         {
-            boost::asio::ip::tcp::acceptor acceptor(service, boost::asio::ip::tcp::endpoint(boost::asio::ip::tcp::v4(), port));
+            boost::asio::ip::tcp::acceptor acceptor(context, boost::asio::ip::tcp::endpoint(boost::asio::ip::tcp::v4(), port));
 
             while (keep_running_)
                 {
@@ -316,7 +321,7 @@ void TcpCmdInterface::run_cmd_server(int tcp_port)
                         {
                             std::cout << "TcpCmdInterface: Telecommand TCP interface listening on port " << tcp_port << std::endl;
 
-                            boost::asio::ip::tcp::socket socket(service);
+                            boost::asio::ip::tcp::socket socket(context);
                             acceptor.accept(socket, not_throw);
                             if (not_throw)
                                 {