Use std::shared_ptr instead of boost::shared_ptr

bjsowa · bjsowa · commit 79f91e7f9dc1 · 2024-10-10T19:22:41.000+02:00
diff --git a/include/web_video_server/h264_streamer.hpp b/include/web_video_server/h264_streamer.hpp
@@ -57,7 +57,7 @@ class H264StreamerType : public LibavStreamerType
 {
 public:
   H264StreamerType();
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/image_streamer.hpp b/include/web_video_server/image_streamer.hpp
@@ -118,7 +118,7 @@ class ImageTransportImageStreamer : public ImageStreamer
 class ImageStreamerType
 {
 public:
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+  virtual std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node) = 0;
diff --git a/include/web_video_server/jpeg_streamers.hpp b/include/web_video_server/jpeg_streamers.hpp
@@ -61,7 +61,7 @@ class MjpegStreamer : public ImageTransportImageStreamer
 class MjpegStreamerType : public ImageStreamerType
 {
 public:
-  boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/libav_streamer.hpp b/include/web_video_server/libav_streamer.hpp
@@ -98,7 +98,7 @@ class LibavStreamerType : public ImageStreamerType
     const std::string & format_name, const std::string & codec_name,
     const std::string & content_type);
 
-  boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/png_streamers.hpp b/include/web_video_server/png_streamers.hpp
@@ -61,7 +61,7 @@ class PngStreamer : public ImageTransportImageStreamer
 class PngStreamerType : public ImageStreamerType
 {
 public:
-  boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/ros_compressed_streamer.hpp b/include/web_video_server/ros_compressed_streamer.hpp
@@ -70,7 +70,7 @@ class RosCompressedStreamer : public ImageStreamer
 class RosCompressedStreamerType : public ImageStreamerType
 {
 public:
-  boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/vp8_streamer.hpp b/include/web_video_server/vp8_streamer.hpp
@@ -60,7 +60,7 @@ class Vp8StreamerType : public LibavStreamerType
 {
 public:
   Vp8StreamerType();
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/vp9_streamer.hpp b/include/web_video_server/vp9_streamer.hpp
@@ -54,7 +54,7 @@ class Vp9StreamerType : public LibavStreamerType
 {
 public:
   Vp9StreamerType();
-  virtual boost::shared_ptr<ImageStreamer> create_streamer(
+  std::shared_ptr<ImageStreamer> create_streamer(
     const async_web_server_cpp::HttpRequest & request,
     async_web_server_cpp::HttpConnectionPtr connection,
     rclcpp::Node::SharedPtr node);
diff --git a/include/web_video_server/web_video_server.hpp b/include/web_video_server/web_video_server.hpp
@@ -114,11 +114,11 @@ class WebVideoServer
   bool verbose_;
   std::string default_stream_type_;
 
-  boost::shared_ptr<async_web_server_cpp::HttpServer> server_;
+  std::shared_ptr<async_web_server_cpp::HttpServer> server_;
   async_web_server_cpp::HttpRequestHandlerGroup handler_group_;
 
-  std::vector<boost::shared_ptr<ImageStreamer>> image_subscribers_;
-  std::map<std::string, boost::shared_ptr<ImageStreamerType>> stream_types_;
+  std::vector<std::shared_ptr<ImageStreamer>> image_subscribers_;
+  std::map<std::string, std::shared_ptr<ImageStreamerType>> stream_types_;
   boost::mutex subscriber_mutex_;
 };
 
diff --git a/src/h264_streamer.cpp b/src/h264_streamer.cpp
@@ -69,12 +69,12 @@ H264StreamerType::H264StreamerType()
 {
 }
 
-boost::shared_ptr<ImageStreamer> H264StreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> H264StreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new H264Streamer(request, connection, node));
+  return std::make_shared<H264Streamer>(request, connection, node);
 }
 
 }  // namespace web_video_server
diff --git a/src/jpeg_streamers.cpp b/src/jpeg_streamers.cpp
@@ -62,12 +62,12 @@ void MjpegStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
   stream_.sendPartAndClear(time, "image/jpeg", encoded_buffer);
 }
 
-boost::shared_ptr<ImageStreamer> MjpegStreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> MjpegStreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new MjpegStreamer(request, connection, node));
+  return std::make_shared<MjpegStreamer>(request, connection, node);
 }
 
 std::string MjpegStreamerType::create_viewer(const async_web_server_cpp::HttpRequest & request)
diff --git a/src/libav_streamer.cpp b/src/libav_streamer.cpp
@@ -303,13 +303,13 @@ LibavStreamerType::LibavStreamerType(
 {
 }
 
-boost::shared_ptr<ImageStreamer> LibavStreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> LibavStreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(
-    new LibavStreamer(request, connection, node, format_name_, codec_name_, content_type_));
+  return std::make_shared<LibavStreamer>(request, connection, node, format_name_, codec_name_,
+      content_type_);
 }
 
 std::string LibavStreamerType::create_viewer(const async_web_server_cpp::HttpRequest & request)
diff --git a/src/png_streamers.cpp b/src/png_streamers.cpp
@@ -78,12 +78,12 @@ void PngStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
   stream_.sendPartAndClear(time, "image/png", encoded_buffer);
 }
 
-boost::shared_ptr<ImageStreamer> PngStreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> PngStreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new PngStreamer(request, connection, node));
+  return std::make_shared<PngStreamer>(request, connection, node);
 }
 
 std::string PngStreamerType::create_viewer(const async_web_server_cpp::HttpRequest & request)
diff --git a/src/ros_compressed_streamer.cpp b/src/ros_compressed_streamer.cpp
@@ -135,12 +135,12 @@ void RosCompressedStreamer::imageCallback(
 }
 
 
-boost::shared_ptr<ImageStreamer> RosCompressedStreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> RosCompressedStreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new RosCompressedStreamer(request, connection, node));
+  return std::make_shared<RosCompressedStreamer>(request, connection, node);
 }
 
 std::string RosCompressedStreamerType::create_viewer(
diff --git a/src/vp8_streamer.cpp b/src/vp8_streamer.cpp
@@ -75,12 +75,12 @@ Vp8StreamerType::Vp8StreamerType()
 {
 }
 
-boost::shared_ptr<ImageStreamer> Vp8StreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> Vp8StreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new Vp8Streamer(request, connection, node));
+  return std::make_shared<Vp8Streamer>(request, connection, node);
 }
 
 }  // namespace web_video_server
diff --git a/src/vp9_streamer.cpp b/src/vp9_streamer.cpp
@@ -57,12 +57,12 @@ Vp9StreamerType::Vp9StreamerType()
 {
 }
 
-boost::shared_ptr<ImageStreamer> Vp9StreamerType::create_streamer(
+std::shared_ptr<ImageStreamer> Vp9StreamerType::create_streamer(
   const async_web_server_cpp::HttpRequest & request,
   async_web_server_cpp::HttpConnectionPtr connection,
   rclcpp::Node::SharedPtr node)
 {
-  return boost::shared_ptr<ImageStreamer>(new Vp9Streamer(request, connection, node));
+  return std::make_shared<Vp9Streamer>(request, connection, node);
 }
 
 }  // namespace web_video_server
diff --git a/src/web_video_server.cpp b/src/web_video_server.cpp
@@ -74,13 +74,12 @@ WebVideoServer::WebVideoServer(rclcpp::Node::SharedPtr & node)
   node_->get_parameter("publish_rate", publish_rate_);
   node_->get_parameter("default_stream_type", default_stream_type_);
 
-  stream_types_["mjpeg"] = boost::shared_ptr<ImageStreamerType>(new MjpegStreamerType());
-  stream_types_["png"] = boost::shared_ptr<ImageStreamerType>(new PngStreamerType());
-  stream_types_["ros_compressed"] =
-    boost::shared_ptr<ImageStreamerType>(new RosCompressedStreamerType());
-  stream_types_["vp8"] = boost::shared_ptr<ImageStreamerType>(new Vp8StreamerType());
-  stream_types_["h264"] = boost::shared_ptr<ImageStreamerType>(new H264StreamerType());
-  stream_types_["vp9"] = boost::shared_ptr<ImageStreamerType>(new Vp9StreamerType());
+  stream_types_["mjpeg"] = std::make_shared<MjpegStreamerType>();
+  stream_types_["png"] = std::make_shared<PngStreamerType>();
+  stream_types_["ros_compressed"] = std::make_shared<RosCompressedStreamerType>();
+  stream_types_["vp8"] = std::make_shared<Vp8StreamerType>();
+  stream_types_["h264"] = std::make_shared<H264StreamerType>();
+  stream_types_["vp9"] = std::make_shared<Vp9StreamerType>();
 
   handler_group_.addHandlerForPath(
     "/",
@@ -138,7 +137,7 @@ void WebVideoServer::restreamFrames(double max_age)
 {
   boost::mutex::scoped_lock lock(subscriber_mutex_);
 
-  typedef std::vector<boost::shared_ptr<ImageStreamer>>::iterator itr_type;
+  typedef std::vector<std::shared_ptr<ImageStreamer>>::iterator itr_type;
 
   for (itr_type itr = image_subscribers_.begin(); itr < image_subscribers_.end(); ++itr) {
     (*itr)->restreamFrame(max_age);
@@ -149,7 +148,7 @@ void WebVideoServer::cleanup_inactive_streams()
 {
   boost::mutex::scoped_lock lock(subscriber_mutex_, boost::try_to_lock);
   if (lock) {
-    typedef std::vector<boost::shared_ptr<ImageStreamer>>::iterator itr_type;
+    typedef std::vector<std::shared_ptr<ImageStreamer>>::iterator itr_type;
     itr_type new_end = std::partition(
       image_subscribers_.begin(), image_subscribers_.end(),
       !boost::bind(&ImageStreamer::isInactive, _1));
@@ -212,9 +211,8 @@ bool WebVideoServer::handle_stream(
         type = "mjpeg";
       }
     }
-    boost::shared_ptr<ImageStreamer> streamer = stream_types_[type]->create_streamer(
-      request,
-      connection, node_);
+    std::shared_ptr<ImageStreamer> streamer = stream_types_[type]->create_streamer(request,
+        connection, node_);
     streamer->start();
     boost::mutex::scoped_lock lock(subscriber_mutex_);
     image_subscribers_.push_back(streamer);
@@ -230,7 +228,8 @@ bool WebVideoServer::handle_snapshot(
   async_web_server_cpp::HttpConnectionPtr connection, const char * begin,
   const char * end)
 {
-  boost::shared_ptr<ImageStreamer> streamer(new JpegSnapshotStreamer(request, connection, node_));
+  std::shared_ptr<ImageStreamer> streamer = std::make_shared<JpegSnapshotStreamer>(request,
+      connection, node_);
   streamer->start();
 
   boost::mutex::scoped_lock lock(subscriber_mutex_);

Original file line number	Diff line number	Diff line change
`@@ -57,7 +57,7 @@ class H264StreamerType : public LibavStreamerType`
`57`	`57`	`{`
`58`	`58`	`public:`
`59`	`59`	`H264StreamerType();`
`60`		`- virtual boost::shared_ptr<ImageStreamer> create_streamer(`
	`60`	`+ std::shared_ptr<ImageStreamer> create_streamer(`
`61`	`61`	`const async_web_server_cpp::HttpRequest & request,`
`62`	`62`	`async_web_server_cpp::HttpConnectionPtr connection,`
`63`	`63`	`rclcpp::Node::SharedPtr node);`
Original file line number	Diff line number	Diff line change
`@@ -118,7 +118,7 @@ class ImageTransportImageStreamer : public ImageStreamer`
`118`	`118`	`class ImageStreamerType`
`119`	`119`	`{`
`120`	`120`	`public:`
`121`		`- virtual boost::shared_ptr<ImageStreamer> create_streamer(`
	`121`	`+ virtual std::shared_ptr<ImageStreamer> create_streamer(`
`122`	`122`	`const async_web_server_cpp::HttpRequest & request,`
`123`	`123`	`async_web_server_cpp::HttpConnectionPtr connection,`
`124`	`124`	`rclcpp::Node::SharedPtr node) = 0;`
Original file line number	Diff line number	Diff line change
`@@ -61,7 +61,7 @@ class MjpegStreamer : public ImageTransportImageStreamer`
`61`	`61`	`class MjpegStreamerType : public ImageStreamerType`
`62`	`62`	`{`
`63`	`63`	`public:`
`64`		`- boost::shared_ptr<ImageStreamer> create_streamer(`
	`64`	`+ std::shared_ptr<ImageStreamer> create_streamer(`
`65`	`65`	`const async_web_server_cpp::HttpRequest & request,`
`66`	`66`	`async_web_server_cpp::HttpConnectionPtr connection,`
`67`	`67`	`rclcpp::Node::SharedPtr node);`
Original file line number	Diff line number	Diff line change
`@@ -61,7 +61,7 @@ class PngStreamer : public ImageTransportImageStreamer`
`61`	`61`	`class PngStreamerType : public ImageStreamerType`
`62`	`62`	`{`
`63`	`63`	`public:`
`64`		`- boost::shared_ptr<ImageStreamer> create_streamer(`
	`64`	`+ std::shared_ptr<ImageStreamer> create_streamer(`
`65`	`65`	`const async_web_server_cpp::HttpRequest & request,`
`66`	`66`	`async_web_server_cpp::HttpConnectionPtr connection,`
`67`	`67`	`rclcpp::Node::SharedPtr node);`
Original file line number	Diff line number	Diff line change
`@@ -70,7 +70,7 @@ class RosCompressedStreamer : public ImageStreamer`
`70`	`70`	`class RosCompressedStreamerType : public ImageStreamerType`
`71`	`71`	`{`
`72`	`72`	`public:`
`73`		`- boost::shared_ptr<ImageStreamer> create_streamer(`
	`73`	`+ std::shared_ptr<ImageStreamer> create_streamer(`
`74`	`74`	`const async_web_server_cpp::HttpRequest & request,`
`75`	`75`	`async_web_server_cpp::HttpConnectionPtr connection,`
`76`	`76`	`rclcpp::Node::SharedPtr node);`
Original file line number	Diff line number	Diff line change
`@@ -60,7 +60,7 @@ class Vp8StreamerType : public LibavStreamerType`
`60`	`60`	`{`
`61`	`61`	`public:`
`62`	`62`	`Vp8StreamerType();`
`63`		`- virtual boost::shared_ptr<ImageStreamer> create_streamer(`
	`63`	`+ std::shared_ptr<ImageStreamer> create_streamer(`
`64`	`64`	`const async_web_server_cpp::HttpRequest & request,`
`65`	`65`	`async_web_server_cpp::HttpConnectionPtr connection,`
`66`	`66`	`rclcpp::Node::SharedPtr node);`
Original file line number	Diff line number	Diff line change
`@@ -54,7 +54,7 @@ class Vp9StreamerType : public LibavStreamerType`
`54`	`54`	`{`
`55`	`55`	`public:`
`56`	`56`	`Vp9StreamerType();`
`57`		`- virtual boost::shared_ptr<ImageStreamer> create_streamer(`
	`57`	`+ std::shared_ptr<ImageStreamer> create_streamer(`
`58`	`58`	`const async_web_server_cpp::HttpRequest & request,`
`59`	`59`	`async_web_server_cpp::HttpConnectionPtr connection,`
`60`	`60`	`rclcpp::Node::SharedPtr node);`
Original file line number	Diff line number	Diff line change
`@@ -69,12 +69,12 @@ H264StreamerType::H264StreamerType()`
`69`	`69`	`{`
`70`	`70`	`}`
`71`	`71`
`72`		`-boost::shared_ptr<ImageStreamer> H264StreamerType::create_streamer(`
	`72`	`+std::shared_ptr<ImageStreamer> H264StreamerType::create_streamer(`
`73`	`73`	`const async_web_server_cpp::HttpRequest & request,`
`74`	`74`	`async_web_server_cpp::HttpConnectionPtr connection,`
`75`	`75`	`rclcpp::Node::SharedPtr node)`
`76`	`76`	`{`
`77`		`- return boost::shared_ptr<ImageStreamer>(new H264Streamer(request, connection, node));`
	`77`	`+ return std::make_shared<H264Streamer>(request, connection, node);`
`78`	`78`	`}`
`79`	`79`
`80`	`80`	`} // namespace web_video_server`