Builds on Ubuntu 22.04 Jammy no warnings

egordon · egordon · commit 160250e7af4f · 2024-01-20T14:09:41.000-08:00
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -100,6 +100,10 @@ endif()
 message(STATUS "Boost components: ${boost_components}")
 find_package(Boost REQUIRED ${boost_components})
 
+# Ignore Boost internal deprecation
+add_definitions("-DBOOST_ALLOW_DEPRECATED_HEADERS")
+add_definitions("-DBOOST_BIND_GLOBAL_PLACEHOLDERS")
+
 ## Translate cmake's new "Boost::blah" library naming format to a normal "libboost_blah" name that can be passed to the linker.
 ## TODO(bz): Hunt down anyone who makes stupid changes like this and make them suffer.
 set(boost_libraries "")
@@ -118,8 +122,8 @@ set(exported_link_dirs ${exported_link_dirs} ${Boost_LIBRARY_DIRS})
 
 ## Eigen3
 find_package(Eigen3 REQUIRED)
-include_directories(${EIGEN_INCLUDE_DIRS})
-set(exported_include_dirs ${exported_include_dirs} ${EIGEN_INCLUDE_DIRS})
+include_directories(${EIGEN3_INCLUDE_DIRS})
+set(exported_include_dirs ${exported_include_dirs} ${EIGEN3_INCLUDE_DIRS})
 
 
 ## curses
diff --git a/examples/ex08_teach_and_play.cpp b/examples/ex08_teach_and_play.cpp
@@ -10,7 +10,8 @@
 #include <string>
 
 #include <boost/ref.hpp>
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
+using namespace boost::placeholders;
 #include <boost/tuple/tuple.hpp>
 
 #define EIGEN_USE_NEW_STDVECTOR
diff --git a/examples/ex10_haptics.cpp b/examples/ex10_haptics.cpp
@@ -5,7 +5,8 @@
  *      Author: dc
  */
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
+using namespace boost::placeholders;
 #include <boost/tuple/tuple.hpp>
 
 #include <barrett/exception.h>
diff --git a/include/barrett/bus/can_socket.h b/include/barrett/bus/can_socket.h
@@ -58,14 +58,14 @@ class CANSocket : public CommunicationsBus {
 	/** CANSocket() Constructors
 	 */
 	CANSocket();
-	CANSocket(int port) throw(std::runtime_error);
+	CANSocket(int port);
 	~CANSocket();
 	/** getMutex() method gets and locks interthread data exchange assuring nothing critical is happening in either thread.
 	 */
 	virtual thread::RealTimeMutex& getMutex() const { return mutex; }
 	/** open() method creates socket communication on a specific port.
 	 */
-	virtual void open(int port) throw(std::logic_error, std::runtime_error);
+	virtual void open(int port);
 	/** close() method destorys socket communication port.
 	 */
 	virtual void close();
diff --git a/include/barrett/log/detail/real_time_writer-inl.h b/include/barrett/log/detail/real_time_writer-inl.h
@@ -36,7 +36,8 @@
 #include <fstream>
 #include <string>
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
+using namespace boost::placeholders;
 #include <boost/thread.hpp>
 #include <boost/lexical_cast.hpp>
 
diff --git a/include/barrett/math/detail/matrix-inl.h b/include/barrett/math/detail/matrix-inl.h
@@ -178,15 +178,13 @@ inline Matrix<R,C, Units> Matrix<R,C, Units>::unserialize(char* source)
 
 template<int R, int C, typename Units>
 inline void Matrix<R,C, Units>::copyTo(gsl_type* gslType) const
-throw(std::logic_error)
 {
 	checkSize(gslType);
 	copyToHelper(gslType);
 }
 
 template<int R, int C, typename Units>
 inline void Matrix<R,C, Units>::copyFrom(const gsl_type* gslType)
-throw(std::logic_error)
 {
 	checkSize(gslType);
 	copyFromHelper(gslType);
diff --git a/include/barrett/math/matrix.h b/include/barrett/math/matrix.h
@@ -132,8 +132,8 @@ class Matrix : public Eigen::Matrix<double, R,C, (C==1 && R>1) ? Eigen::ColMajor
 	void serialize(char* dest) const;
 	static Matrix<R,C, Units> unserialize(char* source);
 
-	void copyTo(gsl_type* gslType) const throw(std::logic_error);
-	void copyFrom(const gsl_type* gslType) throw(std::logic_error);
+	void copyTo(gsl_type* gslType) const;
+	void copyFrom(const gsl_type* gslType);
 
 	void copyFrom(const libconfig::Setting& setting);
 
diff --git a/include/barrett/products/detail/puck-inl.h b/include/barrett/products/detail/puck-inl.h
@@ -161,7 +161,6 @@ int Puck::receiveGetPropertyReply(const bus::CommunicationsBus& bus, int id, int
 }
 
 inline int Puck::getPropertyId(enum Property prop, enum PuckType pt, int fwVers)
-		throw(std::runtime_error)
 {
 	int propId = getPropertyIdNoThrow(prop, pt, fwVers);
 	if (propId == -1) {
diff --git a/include/barrett/products/puck.h b/include/barrett/products/puck.h
@@ -66,7 +66,7 @@ class Puck {
 // include the generated file containing the list of available properties
 #	include <barrett/products/detail/property_list.h>
 	static const char* getPropertyStr(enum Property prop);
-	static enum Property getPropertyEnum(const char* str) throw(std::invalid_argument);
+	static enum Property getPropertyEnum(const char* str);
 	static enum Property getPropertyEnumNoThrow(const char* str);
 
 
@@ -90,7 +90,7 @@ class Puck {
 	bool respondsToProperty(enum Property prop) const {
 		return respondsToProperty(prop, effectiveType, vers);
 	}
-	int getPropertyId(enum Property prop) const throw(std::runtime_error) {
+	int getPropertyId(enum Property prop) const {
 		return getPropertyId(prop, effectiveType, vers);
 	}
 	int getPropertyIdNoThrow(enum Property prop) const {
@@ -131,8 +131,7 @@ class Puck {
 	static bool respondsToProperty(enum Property prop, enum PuckType pt, int fwVers) {
 		return getPropertyIdNoThrow(prop, pt, fwVers) != -1;
 	}
-	static int getPropertyId(enum Property prop, enum PuckType pt, int fwVers)
-			throw(std::runtime_error);
+	static int getPropertyId(enum Property prop, enum PuckType pt, int fwVers);
 	static int getPropertyIdNoThrow(enum Property prop, enum PuckType pt, int fwVers);
 
 
diff --git a/include/barrett/systems/converter.h b/include/barrett/systems/converter.h
@@ -56,8 +56,7 @@ class Converter : public System, public SingleOutput<OutputType> {
 			Conversion<OutputType>* conversion);
 
 	template<typename T>
-	void connectInputTo(System::Output<T>& output)  //NOLINT: non-const reference for syntax
-	throw(std::invalid_argument);
+	void connectInputTo(System::Output<T>& output);  //NOLINT: non-const reference for syntax
 
 	template<typename T>
 	bool connectInputToNoThrow(System::Output<T>& output);  //NOLINT: non-const reference for syntax
diff --git a/include/barrett/systems/detail/converter-inl.h b/include/barrett/systems/detail/converter-inl.h
@@ -66,7 +66,6 @@ template<typename OutputType>
 template<typename T>
 void Converter<OutputType>::connectInputTo(
 		System::Output<T>& output)
-throw(std::invalid_argument)
 {
 	if ( !connectInputToNoThrow(output) ) {
 		throw std::invalid_argument(
diff --git a/include/barrett/systems/detail/summer-polarity-inl.h b/include/barrett/systems/detail/summer-polarity-inl.h
@@ -44,8 +44,7 @@ Summer<T, numInputs, RequiresAlignment>::Polarity::Polarity() :  // default: all
 }
 
 template<typename T, size_t numInputs, bool RequiresAlignment>
-Summer<T, numInputs, RequiresAlignment>::Polarity::Polarity(std::string polarityStr)
-throw(std::invalid_argument) :
+Summer<T, numInputs, RequiresAlignment>::Polarity::Polarity(std::string polarityStr) :
 	polarity()
 {
 	if (polarityStr.size() != numInputs) {
diff --git a/include/barrett/systems/detail/wam-inl.h b/include/barrett/systems/detail/wam-inl.h
@@ -32,7 +32,8 @@
 #include <unistd.h>  // usleep
 
 #include <boost/ref.hpp>
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
+using namespace boost::placeholders;
 #include <boost/thread.hpp>
 
 #define EIGEN_USE_NEW_STDVECTOR
diff --git a/include/barrett/systems/summer.h b/include/barrett/systems/summer.h
@@ -61,7 +61,7 @@ protected:	boost::array<Input<T>*, numInputs> inputs;
 	class Polarity {
 	public:
 		Polarity();  // default: all positive
-		explicit Polarity(std::string polarityStr) throw(std::invalid_argument);
+		explicit Polarity(std::string polarityStr);
 		explicit Polarity(const std::bitset<numInputs>& inputPolarity) :
 			polarity(inputPolarity) {}
 		virtual ~Polarity() {}
diff --git a/programs/zerocal.cpp b/programs/zerocal.cpp
@@ -278,7 +278,7 @@ class AdjustJointStep : public CalibrationStep {
 
 			// Adjust the offset
 			default:
-				mvprintw(line++,left, "Use arrow keys to adjust the Joint %d offset.", j+1);
+				mvprintw(line++,left, "Use arrow keys to adjust the Joint %ld offset.", j+1);
 				sa.off();
 				line++;
 				mvprintw(line++,left, "                 ");
diff --git a/sandbox/log_hand_jp.cpp b/sandbox/log_hand_jp.cpp
@@ -11,7 +11,8 @@
 #include <unistd.h>
 #include <native/timer.h>
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
+using namespace boost::placeholders;
 #include <boost/thread.hpp>
 
 #include <barrett/units.h>
diff --git a/sandbox/moveToPose.cpp b/sandbox/moveToPose.cpp
@@ -8,7 +8,8 @@
 #include <iostream>
 #include <cassert>
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
+using namespace boost::placeholders;
 #include <boost/ref.hpp>
 #include <Eigen/Geometry>
 
diff --git a/sandbox/quaternion_interpolation.cpp b/sandbox/quaternion_interpolation.cpp
@@ -8,7 +8,8 @@
 #include <iostream>
 #include <cassert>
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
+using namespace boost::placeholders;
 #include <boost/ref.hpp>
 #include <Eigen/Geometry>
 
diff --git a/sandbox/teach_and_play/play.cpp b/sandbox/teach_and_play/play.cpp
@@ -8,7 +8,8 @@
 #include <string>
 #include <boost/tuple/tuple.hpp>
 #include <boost/ref.hpp>
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
+using namespace boost::placeholders;
 #include <boost/thread.hpp>
 //#include <boost/filesystem.hpp>
 #include <boost/lexical_cast.hpp>
diff --git a/sandbox/teach_and_play/teach.cpp b/sandbox/teach_and_play/teach.cpp
@@ -11,7 +11,8 @@
 #include <fstream>
 
 #include <boost/ref.hpp>
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
+using namespace boost::placeholders;
 #include <boost/tuple/tuple.hpp>
 #include <boost/thread.hpp>
 #include <curses.h>
diff --git a/sandbox/teach_with_hand.cpp b/sandbox/teach_with_hand.cpp
@@ -10,7 +10,8 @@
 #include <string>
 
 #include <boost/ref.hpp>
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
+using namespace boost::placeholders;
 #include <boost/tuple/tuple.hpp>
 #include <boost/thread.hpp>
 
diff --git a/sandbox/wrist_teach_with_hand.cpp b/sandbox/wrist_teach_with_hand.cpp
@@ -10,7 +10,8 @@
 #include <string>
 
 #include <boost/ref.hpp>
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
+using namespace boost::placeholders;
 #include <boost/tuple/tuple.hpp>
 #include <boost/thread.hpp>
 
diff --git a/src/bus/can_socket-linux.cpp b/src/bus/can_socket-linux.cpp
@@ -71,7 +71,7 @@ CANSocket::CANSocket() :
 {
 }
 
-CANSocket::CANSocket(int port) throw(std::runtime_error) :
+CANSocket::CANSocket(int port) :
 	mutex(), handle(new detail::can_handle)
 {
 	open(port);
@@ -85,7 +85,7 @@ CANSocket::~CANSocket()
 }
 
 
-void CANSocket::open(int port) throw(std::logic_error, std::runtime_error)
+void CANSocket::open(int port)
 {
 	if (isOpen()) {
 		(logMessage("CANSocket::%s(): This object is already associated with a CAN port.")
diff --git a/src/bus/can_socket-rtcan.cpp b/src/bus/can_socket-rtcan.cpp
@@ -66,7 +66,7 @@ CANSocket::CANSocket() :
 {
 }
 
-CANSocket::CANSocket(int port) throw(std::runtime_error) :
+CANSocket::CANSocket(int port) :
 	mutex(), handle(new detail::can_handle)
 {
 	open(port);
@@ -80,7 +80,7 @@ CANSocket::~CANSocket()
 }
 
 
-void CANSocket::open(int port) throw(std::logic_error, std::runtime_error)
+void CANSocket::open(int port)
 {
 	if (isOpen()) {
 		(logMessage("CANSocket::%s(): This object is already associated with a CAN port.")
diff --git a/src/products/property_list.cpp b/src/products/property_list.cpp
@@ -231,7 +231,6 @@ enum Puck::Property Puck::getPropertyEnumNoThrow(const char* str) {
 }
 
 enum Puck::Property Puck::getPropertyEnum(const char* str)
-throw(std::invalid_argument)
 {
 	enum Property prop = getPropertyEnumNoThrow(str);
 	if (prop == (enum Property) -1) {
diff --git a/src/products/property_list.py b/src/products/property_list.py
@@ -316,7 +316,6 @@ def binarySearchHelper(pt, vers, indentation, low, high):
 }
 
 enum Puck::Property Puck::getPropertyEnum(const char* str)
-throw(std::invalid_argument)
 {
 	enum Property prop = getPropertyEnumNoThrow(str);
 	if (prop == -1) {
diff --git a/src/systems/real_time_execution_manager.cpp b/src/systems/real_time_execution_manager.cpp
@@ -39,7 +39,8 @@
 
 #include <errno.h>
 
-#include <boost/bind.hpp>
+#include <boost/bind/bind.hpp>
+using namespace boost::placeholders;
 #include <boost/lexical_cast.hpp>
 
 #include <barrett/os.h>

Original file line number	Diff line number	Diff line change
`@@ -178,15 +178,13 @@ inline Matrix<R,C, Units> Matrix<R,C, Units>::unserialize(char* source)`
`178`	`178`
`179`	`179`	`template<int R, int C, typename Units>`
`180`	`180`	`inline void Matrix<R,C, Units>::copyTo(gsl_type* gslType) const`
`181`		`-throw(std::logic_error)`
`182`	`181`	`{`
`183`	`182`	`checkSize(gslType);`
`184`	`183`	`copyToHelper(gslType);`
`185`	`184`	`}`
`186`	`185`
`187`	`186`	`template<int R, int C, typename Units>`
`188`	`187`	`inline void Matrix<R,C, Units>::copyFrom(const gsl_type* gslType)`
`189`		`-throw(std::logic_error)`
`190`	`188`	`{`
`191`	`189`	`checkSize(gslType);`
`192`	`190`	`copyFromHelper(gslType);`
Original file line number	Diff line number	Diff line change
`@@ -161,7 +161,6 @@ int Puck::receiveGetPropertyReply(const bus::CommunicationsBus& bus, int id, int`
`161`	`161`	`}`
`162`	`162`
`163`	`163`	`inline int Puck::getPropertyId(enum Property prop, enum PuckType pt, int fwVers)`
`164`		`- throw(std::runtime_error)`
`165`	`164`	`{`
`166`	`165`	`int propId = getPropertyIdNoThrow(prop, pt, fwVers);`
`167`	`166`	`if (propId == -1) {`