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Index: gazebo-11.15.1/gazebo/transport/Connection.cc
===================================================================
--- gazebo-11.15.1.orig/gazebo/transport/Connection.cc
+++ gazebo-11.15.1/gazebo/transport/Connection.cc
@@ -73,7 +73,7 @@ IOManager *Connection::iomanager = NULL;
// is stolen from adress::is_unspecified function in boost v1.52.
static bool addressIsUnspecified(const boost::asio::ip::address_v4 &_addr)
{
- return _addr.to_ulong() == 0;
+ return _addr.to_uint() == 0;
}
// Version 1.52 of boost has an address::is_loopback function, but
@@ -81,7 +81,7 @@ static bool addressIsUnspecified(const b
// is stolen from adress::is_loopback function in boost v1.52.
static bool addressIsLoopback(const boost::asio::ip::address_v4 &_addr)
{
- return (_addr.to_ulong() & 0xFF000000) == 0x7F000000;
+ return (_addr.to_uint() & 0xFF000000) == 0x7F000000;
}
//////////////////////////////////////////////////
@@ -151,15 +151,15 @@ bool Connection::Connect(const std::stri
host = _host.substr(7, _host.size() - 7);
// Resolve the host name into an IP address
- boost::asio::ip::tcp::resolver::iterator end;
boost::asio::ip::tcp::resolver resolver(iomanager->GetIO());
- boost::asio::ip::tcp::resolver::query query(host, service,
+
+ auto res = resolver.resolve(host, service,
boost::asio::ip::resolver_query_base::numeric_service);
- boost::asio::ip::tcp::resolver::iterator endpointIter;
+ auto endpointIter = res.begin();
+ auto end = res.end();
try
{
- endpointIter = resolver.resolve(query);
// Find the first valid IPv4 address
for (; endpointIter != end &&
@@ -690,9 +690,9 @@ boost::asio::ip::tcp::endpoint Connectio
if (hostname && !std::string(hostname).empty())
{
boost::asio::ip::tcp::resolver resolver(iomanager->GetIO());
- boost::asio::ip::tcp::resolver::query query(hostname, "");
- boost::asio::ip::tcp::resolver::iterator iter = resolver.resolve(query);
- boost::asio::ip::tcp::resolver::iterator end;
+ auto res = resolver.resolve(hostname, "");
+ auto iter = res.begin();
+ auto end = res.end();
// Loop through the results, and stop at the first valid address.
while (iter != end)
@@ -724,7 +724,7 @@ boost::asio::ip::tcp::endpoint Connectio
<< "] is invalid. We will still try to use it, be warned.\n";
}
- address = boost::asio::ip::address_v4::from_string(ip);
+ address = boost::asio::ip::make_address_v4(ip);
}
// Try to automatically find a valid address if GAZEBO_IP and
@@ -774,7 +774,7 @@ boost::asio::ip::tcp::endpoint Connectio
if (!ValidateIP(host))
continue;
- address = boost::asio::ip::address_v4::from_string(host);
+ address = boost::asio::ip::make_address_v4(host);
// Also make sure that the IP address is not a loopback interface.
if (!addressIsLoopback(address))
@@ -868,7 +868,7 @@ boost::asio::ip::tcp::endpoint Connectio
"but will almost certainly not work if you have remote processes."
"Report to the disc-zmq development team to seek a fix." << std::endl;
}
- address = boost::asio::ip::address_v4::from_string(retAddr);
+ address = boost::asio::ip::make_address_v4(retAddr);
#endif
}
@@ -923,8 +923,9 @@ std::string Connection::GetHostname(boos
else
{
boost::asio::ip::tcp::resolver resolver(iomanager->GetIO());
- boost::asio::ip::tcp::resolver::iterator iter = resolver.resolve(_ep);
- boost::asio::ip::tcp::resolver::iterator end;
+ auto res = resolver.resolve(_ep);
+ auto iter = res.begin();
+ auto end = res.end();
while (iter != end)
{
@@ -950,7 +951,7 @@ std::string Connection::GetLocalHostname
//////////////////////////////////////////////////
void Connection::OnConnect(const boost::system::error_code &_error,
- boost::asio::ip::tcp::resolver::iterator /*_endPointIter*/)
+ boost::asio::ip::tcp::resolver::results_type::iterator /*_endPointIter*/)
{
// This function is called when a connection is successfully (or
// unsuccessfully) established.
Index: gazebo-11.15.1/gazebo/transport/Connection.hh
===================================================================
--- gazebo-11.15.1.orig/gazebo/transport/Connection.hh
+++ gazebo-11.15.1/gazebo/transport/Connection.hh
@@ -409,7 +409,7 @@ namespace gazebo
/// \param[in] _error Error code thrown during connection
/// \param[in] _endPointIter Pointer to resolver iterator
private: void OnConnect(const boost::system::error_code &_error,
- boost::asio::ip::tcp::resolver::iterator _endPointIter);
+ boost::asio::ip::tcp::resolver::results_type::iterator _endPointIter);
/// \brief Socket pointer
private: boost::asio::ip::tcp::socket *socket;
Index: gazebo-11.15.1/gazebo/transport/IOManager.cc
===================================================================
--- gazebo-11.15.1.orig/gazebo/transport/IOManager.cc
+++ gazebo-11.15.1/gazebo/transport/IOManager.cc
@@ -17,6 +17,7 @@
#include <atomic>
#include <boost/bind/bind.hpp>
#include <boost/thread/thread.hpp>
+#include <boost/asio/executor_work_guard.hpp>
#include <iostream>
#include "gazebo/transport/IOManager.hh"
@@ -28,10 +29,10 @@ namespace transport
class IOManagerPrivate
{
/// \brief IO service.
- public: boost::asio::io_service *io_service = nullptr;
+ public: boost::asio::io_context *io_service = nullptr;
/// \brief Use io_service::work to keep the io_service running in thread.
- public: boost::asio::io_service::work *work = nullptr;
+ //public: boost::asio::executor_work_guard<boost::asio::io_context> work;
/// \brief Reference count of connections using this IOManager.
public: std::atomic_int count;
@@ -44,12 +45,11 @@ class IOManagerPrivate
IOManager::IOManager()
: dataPtr(new IOManagerPrivate)
{
- this->dataPtr->io_service = new boost::asio::io_service;
- this->dataPtr->work = new boost::asio::io_service::work(
- *this->dataPtr->io_service);
+ this->dataPtr->io_service = new boost::asio::io_context;
+ //this->dataPtr->work = boost::asio::make_work_guard(*this->dataPtr->io_service);
this->dataPtr->count = 0;
this->dataPtr->thread = new boost::thread(boost::bind(
- &boost::asio::io_service::run, this->dataPtr->io_service));
+ &boost::asio::io_context::run, this->dataPtr->io_service));
}
/////////////////////////////////////////////////
@@ -57,9 +57,6 @@ IOManager::~IOManager()
{
this->Stop();
- delete this->dataPtr->work;
- this->dataPtr->work = nullptr;
-
delete this->dataPtr->io_service;
this->dataPtr->io_service = nullptr;
@@ -70,7 +67,7 @@ IOManager::~IOManager()
/////////////////////////////////////////////////
void IOManager::Stop()
{
- this->dataPtr->io_service->reset();
+ this->dataPtr->io_service->restart();
this->dataPtr->io_service->stop();
if (this->dataPtr->thread)
{
@@ -81,7 +78,7 @@ void IOManager::Stop()
}
/////////////////////////////////////////////////
-boost::asio::io_service &IOManager::GetIO()
+boost::asio::io_context &IOManager::GetIO()
{
return *this->dataPtr->io_service;
}
Index: gazebo-11.15.1/gazebo/transport/IOManager.hh
===================================================================
--- gazebo-11.15.1.orig/gazebo/transport/IOManager.hh
+++ gazebo-11.15.1/gazebo/transport/IOManager.hh
@@ -42,7 +42,7 @@ namespace gazebo
/// \brief Get handle to boost::asio IO service
/// \return Handle to boost::asio IO service
- public: boost::asio::io_service &GetIO();
+ public: boost::asio::io_context &GetIO();
/// \brief Increment the event count by 1
public: void IncCount();
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