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io_service -> io_context #273

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24 changes: 12 additions & 12 deletions ublox_gps/include/ublox_gps/async_worker.hpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@

#include <asio/buffer.hpp>
#include <asio/error_code.hpp>
#include <asio/io_service.hpp>
#include <asio/io_context.hpp>
#include <asio/placeholders.hpp>
#include <asio/write.hpp>
#include <asio/ip/udp.hpp>
Expand All @@ -59,11 +59,11 @@ class AsyncWorker final : public Worker {
/**
* @brief Construct an Asynchronous I/O worker.
* @param stream the stream for th I/O service
* @param io_service the I/O service
* @param io_context the I/O service
* @param buffer_size the size of the input and output buffers
*/
explicit AsyncWorker(std::shared_ptr<StreamT> stream,
std::shared_ptr<asio::io_service> io_service,
std::shared_ptr<asio::io_context> io_context,
std::size_t buffer_size,
int debug,
const rclcpp::Logger& logger);
Expand Down Expand Up @@ -124,7 +124,7 @@ class AsyncWorker final : public Worker {
void doClose();

std::shared_ptr<StreamT> stream_; //!< The I/O stream
std::shared_ptr<asio::io_service> io_service_; //!< The I/O service
std::shared_ptr<asio::io_context> io_context_; //!< The I/O service

std::mutex read_mutex_; //!< Lock for the input buffer
std::condition_variable read_condition_;
Expand All @@ -150,24 +150,24 @@ class AsyncWorker final : public Worker {

template <typename StreamT>
AsyncWorker<StreamT>::AsyncWorker(std::shared_ptr<StreamT> stream,
std::shared_ptr<asio::io_service> io_service,
std::shared_ptr<asio::io_context> io_context,
std::size_t buffer_size,
int debug,
const rclcpp::Logger& logger)
: stream_(stream), io_service_(io_service), in_buffer_size_(0), stopping_(false), debug_(debug), logger_(logger) {
: stream_(stream), io_context_(io_context), in_buffer_size_(0), stopping_(false), debug_(debug), logger_(logger) {
in_.resize(buffer_size);

out_.reserve(buffer_size);

io_service_->post(std::bind(&AsyncWorker<StreamT>::doRead, this));
background_thread_ = std::make_shared<std::thread>([this]{ io_service_->run(); });
asio::post(io_context_->get_executor(), std::bind(&AsyncWorker<StreamT>::doRead, this));
background_thread_ = std::make_shared<std::thread>([this]{ io_context_->run(); });
}

template <typename StreamT>
AsyncWorker<StreamT>::~AsyncWorker() {
io_service_->post(std::bind(&AsyncWorker<StreamT>::doClose, this));
asio::post(io_context_->get_executor(), std::bind(&AsyncWorker<StreamT>::doClose, this));
background_thread_->join();
//io_service_->reset();
//io_context_->reset();
}

template <typename StreamT>
Expand All @@ -185,7 +185,7 @@ bool AsyncWorker<StreamT>::send(const unsigned char* data,
}
out_.insert(out_.end(), data, data + size);

io_service_->post(std::bind(&AsyncWorker<StreamT>::doWrite, this));
asio::post(io_context_->get_executor(), std::bind(&AsyncWorker<StreamT>::doWrite, this));
return true;
}

Expand Down Expand Up @@ -314,7 +314,7 @@ void AsyncWorker<StreamT>::readEnd(const asio::error_code& error,
}

if (!stopping_) {
io_service_->post(std::bind(&AsyncWorker<StreamT>::doRead, this));
asio::post(io_context_->get_executor(), std::bind(&AsyncWorker<StreamT>::doRead, this));
}
}

Expand Down
59 changes: 30 additions & 29 deletions ublox_gps/src/gps.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,8 @@
#include <stdexcept>
#include <thread>

#include <asio/io_service.hpp>
#include <asio/connect.hpp>
#include <asio/io_context.hpp>
#include <asio/serial_port.hpp>
#include <asio/serial_port_base.hpp>
#include <asio/ip/tcp.hpp>
Expand Down Expand Up @@ -129,8 +130,8 @@ void Gps::processUpdSosAck(const ublox_msgs::msg::UpdSOSAck &m) {
void Gps::initializeSerial(const std::string & port, unsigned int baudrate,
uint16_t uart_in, uint16_t uart_out) {
port_ = port;
auto io_service = std::make_shared<asio::io_service>();
auto serial = std::make_shared<asio::serial_port>(*io_service);
auto io_context = std::make_shared<asio::io_context>();
auto serial = std::make_shared<asio::serial_port>(*io_context);

// open serial port
try {
Expand All @@ -152,7 +153,7 @@ void Gps::initializeSerial(const std::string & port, unsigned int baudrate,
if (worker_) {
return;
}
setWorker(std::make_shared<AsyncWorker<asio::serial_port>>(serial, io_service, 8192, debug_, logger_));
setWorker(std::make_shared<AsyncWorker<asio::serial_port>>(serial, io_context, 8192, debug_, logger_));

configured_ = false;

Expand Down Expand Up @@ -185,8 +186,8 @@ void Gps::initializeSerial(const std::string & port, unsigned int baudrate,
}

void Gps::resetSerial(const std::string & port) {
auto io_service = std::make_shared<asio::io_service>();
auto serial = std::make_shared<asio::serial_port>(*io_service);
auto io_context = std::make_shared<asio::io_context>();
auto serial = std::make_shared<asio::serial_port>(*io_context);

// open serial port
try {
Expand All @@ -202,7 +203,7 @@ void Gps::resetSerial(const std::string & port) {
if (worker_) {
return;
}
setWorker(std::make_shared<AsyncWorker<asio::serial_port>>(serial, io_service, 8192, debug_, logger_));
setWorker(std::make_shared<AsyncWorker<asio::serial_port>>(serial, io_context, 8192, debug_, logger_));
configured_ = false;

// Poll UART PRT Config
Expand All @@ -227,69 +228,69 @@ void Gps::resetSerial(const std::string & port) {
void Gps::initializeTcp(const std::string & host, const std::string & port) {
host_ = host;
port_ = port;
auto io_service = std::make_shared<asio::io_service>();
asio::ip::tcp::resolver::iterator endpoint;
auto io_context = std::make_shared<asio::io_context>();
asio::ip::tcp::resolver::results_type endpoint;

try {
asio::ip::tcp::resolver resolver(*io_service);
asio::ip::tcp::resolver resolver(*io_context);
endpoint =
resolver.resolve(asio::ip::tcp::resolver::query(host, port));
resolver.resolve(host, port);
} catch (const std::runtime_error& e) {
throw std::runtime_error("U-Blox: Could not resolve" + host + " " +
port + " " + e.what());
}

auto socket = std::make_shared<asio::ip::tcp::socket>(*io_service);
auto socket = std::make_shared<asio::ip::tcp::socket>(*io_context);

try {
socket->connect(*endpoint);
asio::connect(*socket, endpoint);
} catch (const std::runtime_error& e) {
throw std::runtime_error("U-Blox: Could not connect to " +
endpoint->host_name() + ":" +
endpoint->service_name() + ": " + e.what());
endpoint.begin()->host_name() + ":" +
endpoint.begin()->service_name() + ": " + e.what());
}

RCLCPP_INFO(logger_, "U-Blox: Connected to %s:%s.", endpoint->host_name().c_str(),
endpoint->service_name().c_str());
RCLCPP_INFO(logger_, "U-Blox: Connected to %s:%s.", endpoint.begin()->host_name().c_str(),
endpoint.begin()->service_name().c_str());

if (worker_) {
return;
}
setWorker(std::make_shared<AsyncWorker<asio::ip::tcp::socket>>(socket, io_service, 8192, debug_, logger_));
setWorker(std::make_shared<AsyncWorker<asio::ip::tcp::socket>>(socket, io_context, 8192, debug_, logger_));
}

void Gps::initializeUdp(const std::string & host, const std::string & port) {
host_ = host;
port_ = port;
auto io_service = std::make_shared<asio::io_service>();
asio::ip::udp::resolver::iterator endpoint;
auto io_context = std::make_shared<asio::io_context>();
asio::ip::udp::resolver::results_type endpoint;

try {
asio::ip::udp::resolver resolver(*io_service);
asio::ip::udp::resolver resolver(*io_context);
endpoint =
resolver.resolve(asio::ip::udp::resolver::query(host, port));
resolver.resolve(host, port);
} catch (const std::runtime_error& e) {
throw std::runtime_error("U-Blox: Could not resolve" + host + " " +
port + " " + e.what());
}

auto socket = std::make_shared<asio::ip::udp::socket>(*io_service);
auto socket = std::make_shared<asio::ip::udp::socket>(*io_context);

try {
socket->connect(*endpoint);
asio::connect(*socket, endpoint);
} catch (const std::runtime_error& e) {
throw std::runtime_error("U-Blox: Could not connect to " +
endpoint->host_name() + ":" +
endpoint->service_name() + ": " + e.what());
endpoint.begin()->host_name() + ":" +
endpoint.begin()->service_name() + ": " + e.what());
}

RCLCPP_INFO(logger_, "U-Blox: Connected to %s:%s.", endpoint->host_name().c_str(),
endpoint->service_name().c_str());
RCLCPP_INFO(logger_, "U-Blox: Connected to %s:%s.", endpoint.begin()->host_name().c_str(),
endpoint.begin()->service_name().c_str());

if (worker_) {
return;
}
setWorker(std::make_shared<AsyncWorker<asio::ip::udp::socket>>(socket, io_service, 8192, debug_, logger_));
setWorker(std::make_shared<AsyncWorker<asio::ip::udp::socket>>(socket, io_context, 8192, debug_, logger_));
}

void Gps::close() {
Expand Down