Use std::mutex instead of boost::mutex

Author: bjsowa

include/web_video_server/image_streamer.hpp

@@ -106,7 +106,7 @@ class ImageTransportImageStreamer : public ImageStreamer
 
   rclcpp::Time last_frame;
   cv::Mat output_size_image;
-  boost::mutex send_mutex_;
+  std::mutex send_mutex_;
 
 private:
   image_transport::ImageTransport it_;

include/web_video_server/libav_streamer.hpp

@@ -78,7 +78,7 @@ class LibavStreamer : public ImageTransportImageStreamer
   AVFrame * frame_;
   struct SwsContext * sws_context_;
   rclcpp::Time first_image_timestamp_;
-  boost::mutex encode_mutex_;
+  std::mutex encode_mutex_;
 
   std::string format_name_;
   std::string codec_name_;

include/web_video_server/ros_compressed_streamer.hpp

@@ -63,7 +63,7 @@ class RosCompressedStreamer : public ImageStreamer
   rclcpp::Subscription<sensor_msgs::msg::CompressedImage>::SharedPtr image_sub_;
   rclcpp::Time last_frame;
   sensor_msgs::msg::CompressedImage::ConstSharedPtr last_msg;
-  boost::mutex send_mutex_;
+  std::mutex send_mutex_;
   std::string qos_profile_name_;
 };
 

include/web_video_server/web_video_server.hpp

@@ -119,7 +119,7 @@ class WebVideoServer
 
   std::vector<std::shared_ptr<ImageStreamer>> image_subscribers_;
   std::map<std::string, std::shared_ptr<ImageStreamerType>> stream_types_;
-  boost::mutex subscriber_mutex_;
+  std::mutex subscriber_mutex_;
 };
 
 }  // namespace web_video_server

src/image_streamer.cpp

@@ -117,7 +117,7 @@ void ImageTransportImageStreamer::restreamFrame(double max_age)
   }
   try {
     if (last_frame + rclcpp::Duration::from_seconds(max_age) < node_->now() ) {
-      boost::mutex::scoped_lock lock(send_mutex_);
+      std::scoped_lock lock(send_mutex_);
       // don't update last_frame, it may remain an old value.
       sendImage(output_size_image, node_->now());
     }
@@ -184,7 +184,7 @@ void ImageTransportImageStreamer::imageCallback(const sensor_msgs::msg::Image::C
       cv::flip(img, img, true);
     }
 
-    boost::mutex::scoped_lock lock(send_mutex_);  // protects output_size_image
+    std::scoped_lock lock(send_mutex_);  // protects output_size_image
     if (output_width_ != input_width || output_height_ != input_height) {
       cv::Mat img_resized;
       cv::Size new_size(output_width_, output_height_);

src/jpeg_streamers.cpp

@@ -47,7 +47,7 @@ MjpegStreamer::MjpegStreamer(
 MjpegStreamer::~MjpegStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 void MjpegStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
@@ -91,7 +91,7 @@ JpegSnapshotStreamer::JpegSnapshotStreamer(
 JpegSnapshotStreamer::~JpegSnapshotStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 void JpegSnapshotStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)

src/libav_streamer.cpp

@@ -217,7 +217,7 @@ void LibavStreamer::initializeEncoder()
 
 void LibavStreamer::sendImage(const cv::Mat & img, const rclcpp::Time & time)
 {
-  boost::mutex::scoped_lock lock(encode_mutex_);
+  std::scoped_lock lock(encode_mutex_);
   if (0 == first_image_timestamp_.nanoseconds()) {
     first_image_timestamp_ = time;
   }

src/png_streamers.cpp

@@ -52,7 +52,7 @@ PngStreamer::PngStreamer(
 PngStreamer::~PngStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 cv::Mat PngStreamer::decodeImage(const sensor_msgs::msg::Image::ConstSharedPtr & msg)
@@ -107,7 +107,7 @@ PngSnapshotStreamer::PngSnapshotStreamer(
 PngSnapshotStreamer::~PngSnapshotStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 cv::Mat PngSnapshotStreamer::decodeImage(const sensor_msgs::msg::Image::ConstSharedPtr & msg)

src/ros_compressed_streamer.cpp

@@ -45,7 +45,7 @@ RosCompressedStreamer::RosCompressedStreamer(
 RosCompressedStreamer::~RosCompressedStreamer()
 {
   this->inactive_ = true;
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects sendImage.
+  std::scoped_lock lock(send_mutex_);  // protects sendImage.
 }
 
 void RosCompressedStreamer::start()
@@ -81,7 +81,7 @@ void RosCompressedStreamer::restreamFrame(double max_age)
   }
 
   if (last_frame + rclcpp::Duration::from_seconds(max_age) < node_->now() ) {
-    boost::mutex::scoped_lock lock(send_mutex_);
+    std::scoped_lock lock(send_mutex_);
     sendImage(last_msg, node_->now() );  // don't update last_frame, it may remain an old value.
   }
 }
@@ -128,7 +128,7 @@ void RosCompressedStreamer::sendImage(
 void RosCompressedStreamer::imageCallback(
   const sensor_msgs::msg::CompressedImage::ConstSharedPtr msg)
 {
-  boost::mutex::scoped_lock lock(send_mutex_);  // protects last_msg and last_frame
+  std::scoped_lock lock(send_mutex_);  // protects last_msg and last_frame
   last_msg = msg;
   last_frame = rclcpp::Time(msg->header.stamp);
   sendImage(last_msg, last_frame);

src/web_video_server.cpp

@@ -135,7 +135,7 @@ void WebVideoServer::spin()
 
 void WebVideoServer::restreamFrames(double max_age)
 {
-  boost::mutex::scoped_lock lock(subscriber_mutex_);
+  std::scoped_lock lock(subscriber_mutex_);
 
   typedef std::vector<std::shared_ptr<ImageStreamer>>::iterator itr_type;
 
@@ -146,7 +146,7 @@ void WebVideoServer::restreamFrames(double max_age)
 
 void WebVideoServer::cleanup_inactive_streams()
 {
-  boost::mutex::scoped_lock lock(subscriber_mutex_, boost::try_to_lock);
+  std::unique_lock lock(subscriber_mutex_, std::try_to_lock);
   if (lock) {
     typedef std::vector<std::shared_ptr<ImageStreamer>>::iterator itr_type;
     itr_type new_end = std::partition(
@@ -214,7 +214,7 @@ bool WebVideoServer::handle_stream(
     std::shared_ptr<ImageStreamer> streamer = stream_types_[type]->create_streamer(request,
         connection, node_);
     streamer->start();
-    boost::mutex::scoped_lock lock(subscriber_mutex_);
+    std::scoped_lock lock(subscriber_mutex_);
     image_subscribers_.push_back(streamer);
   } else {
     async_web_server_cpp::HttpReply::stock_reply(async_web_server_cpp::HttpReply::not_found)(
@@ -232,7 +232,7 @@ bool WebVideoServer::handle_snapshot(
       connection, node_);
   streamer->start();
 
-  boost::mutex::scoped_lock lock(subscriber_mutex_);
+  std::scoped_lock lock(subscriber_mutex_);
   image_subscribers_.push_back(streamer);
   return true;
 }