Drop usage of Boost Thread for the macosx target and remove ORO_OS_USE_BOOST_THREAD

config/check_depend.cmake

@@ -54,7 +54,7 @@ OPTION(ORO_NO_EMIT_CORBA_IOR "Do not emit CORBA IORs if name service not used" O
 
 # Look for boost We look up all components in one place because this macro does
 # not support multiple invocations in some CMake versions.
-find_package(Boost 1.38 COMPONENTS filesystem system unit_test_framework thread serialization)
+find_package(Boost 1.38 COMPONENTS filesystem system unit_test_framework serialization)
 
 # Look for boost
 if ( PLUGINS_ENABLE )
@@ -191,7 +191,6 @@ if(OROCOS_TARGET STREQUAL "gnulinux")
   set(OROPKG_OS_GNULINUX TRUE CACHE INTERNAL "This variable is exported to the rtt-config.h file to expose our target choice to the code." FORCE)
   set(OS_HAS_TLSF TRUE)
 
-  find_package(Boost 1.36 COMPONENTS thread )
   find_package(Pthread REQUIRED)
 
   include(CheckLibraryExists)
@@ -213,26 +212,18 @@ if(OROCOS_TARGET STREQUAL "macosx")
   set(OROPKG_OS_MACOSX TRUE CACHE INTERNAL "This variable is exported to the rtt-config.h file to expose our target choice to the code." FORCE)
   set(OS_HAS_TLSF TRUE)
 
-  if (NOT Boost_THREAD_FOUND)
-	message(SEND_ERROR "Boost thread library not found but required on macosx.")
-  endif ()
-
-  list(APPEND OROCOS-RTT_INCLUDE_DIRS ${Boost_THREAD_INCLUDE_DIRS} ${Boost_SYSTEM_INCLUDE_DIRS} )
-
-  SELECT_ONE_LIBRARY("Boost_THREAD_LIBRARY" BOOST_THREAD_LIB)
-  LIST(APPEND OROCOS-RTT_USER_LINK_LIBS ${BOOST_THREAD_LIB})
+  find_package(Pthread REQUIRED)
 
-  SELECT_ONE_LIBRARY("Boost_SYSTEM_LIBRARY" BOOST_SYSTEM_LIB)
-  LIST(APPEND OROCOS-RTT_USER_LINK_LIBS ${BOOST_SYSTEM_LIB})
+  include(CheckLibraryExists)
+  check_library_exists(pthread "pthread_setname_np" "" ORO_HAVE_PTHREAD_SETNAME_NP)
 
-  message( "Forcing ORO_OS_USE_BOOST_THREAD to ON")
-  set( ORO_OS_USE_BOOST_THREAD ON CACHE BOOL "Forced enable use of Boost.thread on macosx." FORCE)
+  add_definitions( -Wall )
 
   # Force OFF on mqueue transport on macosx
   message("Forcing ENABLE_MQ to OFF for macsox")
   set(ENABLE_MQ OFF CACHE BOOL "This option is forced to OFF by the build system on macosx platform." FORCE)
 
-  # see also src/CMakeLists.txt as it adds the boost_thread library to OROCOS_RTT_LIBRARIES
+  list(APPEND OROCOS-RTT_INCLUDE_DIRS ${PTHREAD_INCLUDE_DIRS})
   list(APPEND OROCOS-RTT_LIBRARIES ${PTHREAD_LIBRARIES} dl) 
   list(APPEND OROCOS-RTT_DEFINITIONS "OROCOS_TARGET=${OROCOS_TARGET}") 
 

rtt/CMakeLists.txt

@@ -14,20 +14,6 @@ OPTION(OS_AGNOSTIC "Do not use asm/system.h and asm/atomic.h global system heade
 OPTION(OS_HAVE_IOSTREAM "Use C++ iostream library." ON)
 OPTION(OS_HAVE_STREAMS "Use C++ streams library." ON)
 OPTION(OS_HAVE_MAIN "Provide main() function in rtt library, which sets up the OS. The user implements ORO_main()." ON)
-OPTION(ORO_OS_USE_BOOST_THREAD "Use the Boost.Thread library. Currently only the mutex implementation is used." OFF)
-
-if (ORO_OS_USE_BOOST_THREAD)
-  # Look for boost threads
-  find_package(Boost 1.36 COMPONENTS thread date_time REQUIRED)
-
-  if (NOT Boost_THREAD_FOUND)
-    message(SEND_ERROR "ORO_OS_USE_BOOST_THREAD turned on, but Boost thread library is not installed or wrong version.")
-  endif()
-
-  SELECT_ONE_LIBRARY("Boost_THREAD_LIBRARY" BOOST_THREAD_LIB)
-  list(APPEND OROCOS-RTT_LIBRARIES ${BOOST_THREAD_LIB} ${Boost_DATE_TIME_LIBRARY})
-
-endif()
 
 SET(OS_MAX_CONC_ACCESS 8 CACHE STRING  "The maximum number of threads that will access a lock-free resource at exactly the same time. The Default (8) is very conservative. Your application may have more threads than this number.")
 SET(OS_MAX_THREADS ${OS_MAX_CONC_ACCESS})

rtt/os/Condition.hpp

@@ -40,14 +40,8 @@
 #define OS_CONDITION_HPP
 
 #include "fosi.h"
-#include "../rtt-config.h"
 #include "Time.hpp"
 #include "Mutex.hpp"
-#ifdef ORO_OS_USE_BOOST_THREAD
-// BOOST_DATE_TIME_POSIX_TIME_STD_CONFIG is defined in rtt-config.h
-#include <boost/thread/condition.hpp>
-#include <boost/date_time/posix_time/posix_time_types.hpp>
-#endif
 
 namespace RTT
 { namespace os {
@@ -59,7 +53,6 @@ namespace RTT
      */
 	class RTT_API Condition
     {
-#ifndef ORO_OS_USE_BOOST_THREAD
 	protected:
 	    rt_cond_t c;
 	public:
@@ -132,89 +125,6 @@ namespace RTT
                 return true;
             return false;
         }
-#else
-    protected:
-        boost::condition_variable_any c;
-    public:
-        /**
-        * Initialize a Condition.
-        */
-        Condition()
-        {
-        }
-
-        /**
-        * Destroy a Condition.
-        * If the Condition is still locked, the RTOS
-        * will not be asked to clean up its resources.
-        */
-        ~Condition()
-        {
-        }
-
-        /**
-         * Wait forever until a condition occurs
-         * @param m The mutex you hold locked when calling this function.
-         * @return false if the waiting failed. This can only
-         * be caused by the OS aborting the waiting.
-         */
-        bool wait (Mutex& m)
-        {
-            c.wait(m.m);
-            return true;
-        }
-
-        /**
-         * Wait forever until a condition occurs
-         * @param m The mutex you hold locked when calling this function.
-         * @param p A function object returning a boolean
-         * @return \a false if the waiting failed. This can only
-         * be caused by the OS aborting the waiting. Returns
-         * \a true when p() has been true.
-         */
-        template<class Predicate>
-        bool wait (Mutex& m, Predicate& p)
-        {
-            c.wait(m.m, p);
-            return true;
-        }
-        /**
-         * Wake all threads that are blocking in wait() or wait_until().
-         */
-        void broadcast()
-        {
-            c.notify_all();
-        }
-
-        /**
-         * Wait for this condition, but don't wait longer for it
-         * than the specified absolute time.
-         *
-         * @param m The mutex you hold locked when calling this function.
-         * @param  abs_time The absolute time to wait until before the condition happens.
-         * Use rtos_get_time_ns() to get the current time and Seconds_to_nsecs to add a
-         * certain amount to the result.
-         * @return true when the condition occured, false in case the timeout
-         * happened.
-         */
-        bool wait_until(Mutex& m, nsecs abs_time)
-        {
-            // abs_time is since epoch, so set p_time to epoch, then add our abs_time.
-            boost::posix_time::ptime p_time = boost::posix_time::from_time_t(0);
-
-            // If the line below fails to compile, #define BOOST_DATE_TIME_POSIX_TIME_STD_CONFIG globally
-            // or #include <rtt/rtt-config.h> before any of your include headers.
-            boost::posix_time::nanosec abs_p_time = boost::posix_time::nanoseconds(abs_time);
-
-            // wakeup time = epoch date + time since epoch
-            p_time = p_time + abs_p_time;
-            return c.timed_wait(m, p_time, &Condition::retfalse );
-        }
-    private:
-        static bool retfalse() { return false; }
-
-#endif
-
     };
 }}
 

rtt/os/Mutex.hpp

@@ -40,22 +40,13 @@
 #define OS_MUTEX_HPP
 
 #include "fosi.h"
-#include "../rtt-config.h"
 #include "rtt-os-fwd.hpp"
 #include "CAS.hpp"
 #include "Semaphore.hpp"
 #include "Time.hpp"
 
 #include <cassert>
 
-#ifdef ORO_OS_USE_BOOST_THREAD
-// BOOST_DATE_TIME_POSIX_TIME_STD_CONFIG is defined in rtt-config.h
-#include <boost/thread/mutex.hpp>
-#include <boost/thread/recursive_mutex.hpp>
-#include <boost/thread/shared_mutex.hpp>
-#include <boost/date_time/posix_time/posix_time_types.hpp>
-#endif
-
 namespace RTT
 { namespace os {
 
@@ -92,7 +83,6 @@ namespace RTT
 	class RTT_API Mutex : public MutexInterface
     {
 	    friend class Condition;
-#ifndef ORO_OS_USE_BOOST_THREAD
 	protected:
 	    rt_mutex_t m;
 	public:
@@ -152,59 +142,6 @@ namespace RTT
                 return true;
             return false;
         }
-#else
-    protected:
-        boost::timed_mutex m;
-    public:
-        /**
-        * Initialize a Mutex.
-        */
-        Mutex()
-        {
-        }
-
-        /**
-        * Destroy a Mutex.
-        * If the Mutex is still locked, the RTOS
-        * will not be asked to clean up its resources.
-        */
-        virtual ~Mutex()
-        {
-        }
-
-        virtual void lock ()
-        {
-            m.lock();
-        }
-
-        virtual void unlock()
-        {
-            m.unlock();
-        }
-
-        /**
-        * Try to lock this mutex
-        *
-        * @return true when the locking succeeded, false otherwise
-        */
-        virtual bool trylock()
-        {
-            return m.try_lock();
-        }
-
-        /**
-        * Lock this mutex, but don't wait longer for the lock
-        * than the specified timeout.
-        *
-        * @param  s The maximum time to wait before aqcuiring the lock.
-        * @return true when the locking succeeded, false otherwise
-        */
-        virtual bool timedlock(Seconds s)
-        {
-            return m.timed_lock( boost::posix_time::microseconds(Seconds_to_nsecs(s)/1000) );
-        }
-#endif
-
     };
 
     /**
@@ -217,7 +154,6 @@ namespace RTT
      */
     class RTT_API MutexRecursive : public MutexInterface
     {
-#ifndef ORO_OS_USE_BOOST_THREAD
     protected:
         rt_rec_mutex_t recm;
     public:
@@ -277,58 +213,6 @@ namespace RTT
                 return true;
             return false;
         }
-#else
-    protected:
-        boost::recursive_timed_mutex recm;
-    public:
-        /**
-         * Initialize a recursive Mutex.
-         */
-        MutexRecursive()
-        {
-        }
-
-        /**
-        * Destroy a MutexRecursive.
-        * If the MutexRecursive is still locked, the RTOS
-        * will not be asked to clean up its resources.
-        */
-        virtual ~MutexRecursive()
-        {
-        }
-
-        void lock ()
-        {
-            recm.lock();
-        }
-
-        virtual void unlock()
-        {
-            recm.unlock();
-        }
-
-        /**
-        * Try to lock this mutex
-        *
-        * @return true when the locking succeeded, false otherwise
-        */
-        virtual bool trylock()
-        {
-            return recm.try_lock();
-        }
-
-        /**
-        * Lock this mutex, but don't wait longer for the lock
-        * than the specified timeout.
-        *
-        * @param  s The maximum time to wait before aqcuiring the lock.
-        * @return true when the locking succeeded, false otherwise
-        */
-        virtual bool timedlock(Seconds s)
-        {
-            return recm.timed_lock( boost::posix_time::microseconds( Seconds_to_nsecs(s)/1000 ) );
-        }
-#endif
     };
 
     /**

rtt/os/gnulinux/fosi.h

@@ -304,14 +304,6 @@ extern "C"
         return pthread_mutex_unlock(m);
     }
 
-    static inline void rtos_enable_rt_warning(void)
-    {
-    }
-
-    static inline void rtos_disable_rt_warning(void)
-    {
-    }
-
     typedef pthread_cond_t rt_cond_t;
 
     static inline int rtos_cond_init(rt_cond_t *cond)
@@ -354,6 +346,14 @@ extern "C"
         return pthread_cond_broadcast(cond);
     }
 
+    static inline void rtos_enable_rt_warning(void)
+    {
+    }
+
+    static inline void rtos_disable_rt_warning(void)
+    {
+    }
+
 #define rtos_printf printf
 
 #ifdef __cplusplus

rtt/os/macosx/CMakeLists.txt

@@ -4,4 +4,4 @@ IF (OROCOS_TARGET STREQUAL "macosx")
 
   GLOBAL_ADD_INCLUDE( rtt/os/macosx ${HPPS})
   GLOBAL_ADD_SRC( ${CPPS})
-ENDIF (OROCOS_TARGET STREQUAL "macosx")
+ENDIF (OROCOS_TARGET STREQUAL "macosx")