From deb968d53a92c78b0da1331456f8c704614ace31 Mon Sep 17 00:00:00 2001
From: Steven Peters <scpeters@osrfoundation.org>
Date: Sun, 20 Sep 2015 00:47:02 -0700
Subject: [PATCH] Use c++11 instead of boost

This package uses only a small amount of boost
for a mutex and scoped_lock.
These are replaced with std::mutex
and std::lock_guard from c++11.
Boost is removed as a dependency
and the c++11 compiler flag is added.
---
 CMakeLists.txt  | 11 +++--------
 src/console.cpp |  6 +++---
 2 files changed, 6 insertions(+), 11 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3a07cfb..56c1bc8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,26 +21,21 @@ if (HAS_VISIBILITY)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility=hidden")
 endif()
 
-find_package(Boost COMPONENTS system thread REQUIRED)
+# Use c++11 compiler flag, since it's needed for console.cpp
+# It isn't in a header file, so it doesn't need to be exported
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --std=c++11")
 
 if(MSVC OR MSVC90 OR MSVC10)
   set(MSVC ON)
 endif (MSVC OR MSVC90 OR MSVC10)
 
-if(MSVC)
-  add_definitions(-DBOOST_ALL_NO_LIB)
-endif(MSVC)
-
 include_directories(include)
-include_directories(${Boost_INCLUDE_DIR})
-link_directories(${Boost_LIBRARY_DIRS})
 
 if(NOT DEFINED BUILD_SHARED_LIBS)
   option(BUILD_SHARED_LIBS "Build dynamically-linked binaries" ON)
 endif()
 
 add_library(${PROJECT_NAME} src/console.cpp)
-target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES})
 
 install(TARGETS ${PROJECT_NAME}
   DESTINATION lib/)
diff --git a/src/console.cpp b/src/console.cpp
index 95920a5..fa808bb 100644
--- a/src/console.cpp
+++ b/src/console.cpp
@@ -35,7 +35,7 @@
 /* Author: Ryan Luna, Ioan Sucan */
 
 #include "console_bridge/console.h"
-#include <boost/thread/mutex.hpp>
+#include <mutex>
 #include <iostream>
 #include <cstdio>
 #include <cstdarg>
@@ -55,7 +55,7 @@ struct DefaultOutputHandler
     console_bridge::OutputHandler   *output_handler_;
     console_bridge::OutputHandler   *previous_output_handler_;
     console_bridge::LogLevel         logLevel_;
-    boost::mutex                     lock_; // it is likely the outputhandler does some I/O, so we serialize it
+    std::mutex                       lock_; // it is likely the outputhandler does some I/O, so we serialize it
 };
 
 // we use this function because we want to handle static initialization correctly
@@ -70,7 +70,7 @@ static DefaultOutputHandler* getDOH(void)
 
 #define USE_DOH                                                                \
     DefaultOutputHandler *doh = getDOH();                                      \
-    boost::mutex::scoped_lock slock(doh->lock_)
+    std::lock_guard<std::mutex> slock(doh->lock_)
 
 #define MAX_BUFFER_SIZE 1024