roscpp: replace ROSCPP_BOOST_CONDITION_VARIABLE and ROSCPP_BOOST_COND…

…ITION_VARIABLE_HEADER macros by a typedef in internal_condition_variable.h

clients/roscpp/CMakeLists.txt

@@ -24,9 +24,6 @@ find_package(Boost REQUIRED COMPONENTS chrono filesystem system)
 
 # Make sure we use CLOCK_MONOTONIC for the condition variable wait_for if not Apple.
 if(NOT APPLE AND NOT WIN32)
-  if(Boost_VERSION LESS 106100)
-    set(ROSCPP_USE_BACKPORTED_BOOST_CONDITION_VARIABLE_IMPLEMENTATION ON)
-  endif()
   if(Boost_VERSION LESS 106700)
     # CLOCK_MONOTONIC became the default in Boost 1.67:
     # https://github.com/boostorg/thread/commit/1e84b978b2bb0aae830cc14533dea3b7ddda5cde

clients/roscpp/include/ros/callback_queue.h

@@ -35,12 +35,8 @@
 #ifndef ROSCPP_CALLBACK_QUEUE_H
 #define ROSCPP_CALLBACK_QUEUE_H
 
-// check if we might need to include our own backported version boost::condition_variable
-// in order to use CLOCK_MONOTONIC for the condition variable
-#include "ros/common.h"
-#include ROSCPP_BOOST_CONDITION_VARIABLE_HEADER
-
 #include "ros/callback_queue_interface.h"
+#include "ros/internal_condition_variable.h"
 #include "ros/time.h"
 
 #include <boost/shared_ptr.hpp>
@@ -166,7 +162,7 @@ class ROSCPP_DECL CallbackQueue : public CallbackQueueInterface
   D_CallbackInfo callbacks_;
   size_t calling_;
   boost::mutex mutex_;
-  ROSCPP_BOOST_CONDITION_VARIABLE condition_;
+  roscpp::internal::condition_variable condition_;
 
   boost::mutex id_info_mutex_;
   M_IDInfo id_info_;

clients/roscpp/include/ros/common.h.in

@@ -38,7 +38,6 @@
 #include "ros/serialized_message.h"
 
 #include <boost/shared_array.hpp>
-#include <boost/version.hpp>
 
 #define ROS_VERSION_MAJOR @roscpp_VERSION_MAJOR@
 #define ROS_VERSION_MINOR @roscpp_VERSION_MINOR@
@@ -49,18 +48,6 @@
 #define ROS_VERSION_GE(major1, minor1, patch1, major2, minor2, patch2) (ROS_VERSION_COMBINED(major1, minor1, patch1) >= ROS_VERSION_COMBINED(major2, minor2, patch2))
 #define ROS_VERSION_MINIMUM(major, minor, patch) ROS_VERSION_GE(ROS_VERSION_MAJOR, ROS_VERSION_MINOR, ROS_VERSION_PATCH, major, minor, patch)
 
-// check if we might need to include our own backported version boost::condition_variable
-// in order to use CLOCK_MONOTONIC for the condition variable and for the SteadyTimer
-#cmakedefine ROSCPP_USE_BACKPORTED_BOOST_CONDITION_VARIABLE_IMPLEMENTATION
-#ifdef ROSCPP_USE_BACKPORTED_BOOST_CONDITION_VARIABLE_IMPLEMENTATION
-  // use backported version of boost condition variable, see https://svn.boost.org/trac/boost/ticket/6377
-  #define ROSCPP_BOOST_CONDITION_VARIABLE_HEADER "boost_161_condition_variable.h"
-  #define ROSCPP_BOOST_CONDITION_VARIABLE boost_161::condition_variable
-#else
-  #define ROSCPP_BOOST_CONDITION_VARIABLE_HEADER <boost/thread/condition_variable.hpp>
-  #define ROSCPP_BOOST_CONDITION_VARIABLE boost::condition_variable
-#endif
-
 #include <ros/macros.h>
 
 // Import/export for windows dll's and visibility for gcc shared libraries.

clients/roscpp/include/ros/internal_condition_variable.h

@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *   * Redistributions of source code must retain the above copyright notice,
+ *     this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived from
+ *     this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROSCPP_INTERNAL_CONDITION_VARIABLE_H
+#define ROSCPP_INTERNAL_CONDITION_VARIABLE_H
+
+#include <boost/version.hpp>
+
+// check if we might need to include our own backported version boost::condition_variable
+// in order to use CLOCK_MONOTONIC for the condition variable and for the SteadyTimer
+#if !defined(_WIN32) && !defined(__APPLE__) && (BOOST_VERSION < 106100)
+  #define ROSCPP_USE_BACKPORTED_BOOST_CONDITION_VARIABLE_IMPLEMENTATION
+#endif
+
+#ifdef ROSCPP_USE_BACKPORTED_BOOST_CONDITION_VARIABLE_IMPLEMENTATION
+  // use backported version of boost condition variable, see https://svn.boost.org/trac/boost/ticket/6377
+  #include "boost_161_condition_variable.h"
+  namespace roscpp {
+  namespace internal {
+    typedef boost_161::condition_variable condition_variable;
+  }
+  }
+#else
+  #include <boost/thread/condition_variable.hpp>
+  namespace roscpp {
+  namespace internal {
+    typedef boost::condition_variable condition_variable;
+  }
+  }
+#endif
+
+#endif  // ROSCPP_INTERNAL_CONDITION_VARIABLE_H

clients/roscpp/include/ros/rosout_appender.h

@@ -35,11 +35,8 @@
 #ifndef ROSCPP_ROSOUT_APPENDER_H
 #define ROSCPP_ROSOUT_APPENDER_H
 
-// check if we might need to include our own backported version boost::condition_variable
-// in order to use CLOCK_MONOTONIC for the condition variable
-#include "ros/common.h"
-#include ROSCPP_BOOST_CONDITION_VARIABLE_HEADER
-
+#include <ros/common.h>
+#include <ros/internal_condition_variable.h>
 #include <ros/message_forward.h>
 
 #include <boost/shared_ptr.hpp>
@@ -77,7 +74,7 @@ class ROSCPP_DECL ROSOutAppender : public ros::console::LogAppender
   typedef std::vector<rosgraph_msgs::LogPtr> V_Log;
   V_Log log_queue_;
   boost::mutex queue_mutex_;
-  ROSCPP_BOOST_CONDITION_VARIABLE queue_condition_;
+  roscpp::internal::condition_variable queue_condition_;
   bool shutting_down_;
   bool disable_topics_;
 

clients/roscpp/include/ros/service_server_link.h

@@ -35,10 +35,8 @@
 #ifndef ROSCPP_SERVICE_SERVER_LINK_H
 #define ROSCPP_SERVICE_SERVER_LINK_H
 
-// check if we might need to include our own backported version boost::condition_variable
-// in order to use CLOCK_MONOTONIC for the condition variable
-#include "ros/common.h"
-#include ROSCPP_BOOST_CONDITION_VARIABLE_HEADER
+#include <ros/common.h>
+#include <ros/internal_condition_variable.h>
 
 #include <boost/thread/mutex.hpp>
 #include <boost/shared_array.hpp>
@@ -67,7 +65,7 @@ class ROSCPP_DECL ServiceServerLink : public boost::enable_shared_from_this<Serv
     SerializedMessage* resp_;
 
     bool finished_;
-    ROSCPP_BOOST_CONDITION_VARIABLE finished_condition_;
+    roscpp::internal::condition_variable finished_condition_;
     boost::mutex finished_mutex_;
     boost::thread::id caller_thread_id_;
 

clients/roscpp/include/ros/timer_manager.h

@@ -28,12 +28,8 @@
 #ifndef ROSCPP_TIMER_MANAGER_H
 #define ROSCPP_TIMER_MANAGER_H
 
-// check if we might need to include our own backported version boost::condition_variable
-// in order to use CLOCK_MONOTONIC for the SteadyTimer
-#include "ros/common.h"
-#include ROSCPP_BOOST_CONDITION_VARIABLE_HEADER
-
 #include "ros/forwards.h"
+#include "ros/internal_condition_variable.h"
 #include "ros/time.h"
 #include "ros/file_log.h"
 
@@ -132,7 +128,7 @@ class TimerManager
 
   V_TimerInfo timers_;
   boost::mutex timers_mutex_;
-  ROSCPP_BOOST_CONDITION_VARIABLE timers_cond_;
+  roscpp::internal::condition_variable timers_cond_;
   volatile bool new_timer_;
 
   boost::mutex waiting_mutex_;