From e7dc926dad3b4cc11435c833f13408833e2df703 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 16 Jul 2019 11:07:02 +0200
Subject: [PATCH] Improving the concurrent queue and fix missing dependencies

---
 src/algorithms/PVT/libs/rtcm.cc         |  1 +
 src/algorithms/PVT/libs/rtcm.h          |  1 +
 src/algorithms/PVT/libs/rtcm_printer.cc |  1 +
 src/core/receiver/concurrent_queue.h    | 32 +++++++++++++++++++------
 4 files changed, 28 insertions(+), 7 deletions(-)

diff --git a/src/algorithms/PVT/libs/rtcm.cc b/src/algorithms/PVT/libs/rtcm.cc
index 0cad7ec65..da186273f 100644
--- a/src/algorithms/PVT/libs/rtcm.cc
+++ b/src/algorithms/PVT/libs/rtcm.cc
@@ -38,6 +38,7 @@
 #include <boost/crc.hpp>
 #include <boost/date_time/gregorian/gregorian.hpp>
 #include <boost/dynamic_bitset.hpp>
+#include <boost/exception/diagnostic_information.hpp>
 #include <algorithm>  // for std::reverse
 #include <chrono>     // std::chrono::seconds
 #include <cmath>      // for std::fmod
diff --git a/src/algorithms/PVT/libs/rtcm.h b/src/algorithms/PVT/libs/rtcm.h
index 5f0c7a8cb..26635b5b3 100644
--- a/src/algorithms/PVT/libs/rtcm.h
+++ b/src/algorithms/PVT/libs/rtcm.h
@@ -55,6 +55,7 @@
 #include <thread>
 #include <utility>
 #include <vector>
+#include <list>
 
 #if BOOST_GREATER_1_65
 using b_io_context = boost::asio::io_context;
diff --git a/src/algorithms/PVT/libs/rtcm_printer.cc b/src/algorithms/PVT/libs/rtcm_printer.cc
index d30959017..7526cbb78 100644
--- a/src/algorithms/PVT/libs/rtcm_printer.cc
+++ b/src/algorithms/PVT/libs/rtcm_printer.cc
@@ -46,6 +46,7 @@
 #include <iostream>   // for cout, cerr
 #include <termios.h>  // for tcgetattr
 #include <unistd.h>   // for close, write
+#include <boost/exception/diagnostic_information.hpp>
 
 #if HAS_STD_FILESYSTEM
 #include <system_error>
diff --git a/src/core/receiver/concurrent_queue.h b/src/core/receiver/concurrent_queue.h
index 66cefbf96..da223d16c 100644
--- a/src/core/receiver/concurrent_queue.h
+++ b/src/core/receiver/concurrent_queue.h
@@ -31,7 +31,9 @@
 #ifndef GNSS_SDR_CONCURRENT_QUEUE_H
 #define GNSS_SDR_CONCURRENT_QUEUE_H
 
-#include <boost/thread.hpp>
+#include <mutex>
+#include <thread>
+#include <chrono>
 #include <queue>
 
 template <typename Data>
@@ -48,7 +50,7 @@ class Concurrent_Queue
 public:
     void push(Data const& data)
     {
-        boost::mutex::scoped_lock lock(the_mutex);
+    	std::unique_lock<std::mutex> lock(the_mutex);
         the_queue.push(data);
         lock.unlock();
         the_condition_variable.notify_one();
@@ -56,13 +58,13 @@ public:
 
     bool empty() const
     {
-        boost::mutex::scoped_lock lock(the_mutex);
+    	std::unique_lock<std::mutex> lock(the_mutex);
         return the_queue.empty();
     }
 
     bool try_pop(Data& popped_value)
     {
-        boost::mutex::scoped_lock lock(the_mutex);
+    	std::unique_lock<std::mutex> lock(the_mutex);
         if (the_queue.empty())
             {
                 return false;
@@ -74,7 +76,7 @@ public:
 
     void wait_and_pop(Data& popped_value)
     {
-        boost::mutex::scoped_lock lock(the_mutex);
+    	std::unique_lock<std::mutex> lock(the_mutex);
         while (the_queue.empty())
             {
                 the_condition_variable.wait(lock);
@@ -83,9 +85,25 @@ public:
         the_queue.pop();
     }
     
+    bool timed_wait_and_pop(Data& popped_value, int wait_ms)
+    {
+    	std::unique_lock<std::mutex> lock(the_mutex);
+        if (the_queue.empty())
+            {
+                the_condition_variable.wait_for(lock,std::chrono::milliseconds(wait_ms));
+                if (the_queue.empty())
+                    {
+                	return false;
+                    }
+            }
+        popped_value = the_queue.front();
+        the_queue.pop();
+        return true;
+    }
+
 private:
     std::queue<Data> the_queue;
-    mutable boost::mutex the_mutex;
-    boost::condition_variable the_condition_variable;
+    mutable std::mutex the_mutex;
+    std::condition_variable the_condition_variable;
 };
 #endif