Replaced instances of boost::bind with std::bind or lambda functions.

docs/coroutine_test_examples.cpp

@@ -1,4 +1,3 @@
-#include <boost/bind.hpp>
 #include <boost/coroutine2/all.hpp>
 #include <functional>
 #include <iostream>
@@ -12,7 +11,7 @@ class FunctionMemberObject
     explicit FunctionMemberObject(TestFunction func, std::shared_ptr<int> data)
         : func(func),
           coroutine_sequence(
-              boost::bind(&FunctionMemberObject::executeWrapper, this, _1, data))
+              std::bind(&FunctionMemberObject::executeWrapper, this, std::placeholders::_1, data))
     {
     }
 
@@ -46,7 +45,7 @@ class DataMemberObject
     explicit DataMemberObject(TestFunction func, std::shared_ptr<int> data)
         : data(data),
           coroutine_sequence(
-              boost::bind(&DataMemberObject::executeWrapper, this, _1, func))
+              std::bind(&DataMemberObject::executeWrapper, this, std::placeholders::_1, func))
     {
     }
 
@@ -78,7 +77,7 @@ class NoMemberObject
 {
    public:
     explicit NoMemberObject(TestFunction validation_function, std::shared_ptr<int> data)
-        : coroutine_sequence(boost::bind(&NoMemberObject::executeWrapper, this, _1, data,
+        : coroutine_sequence(std::bind(&NoMemberObject::executeWrapper, this, std::placeholders::_1, data,
                                          validation_function))
     {
     }

src/software/ai/BUILD

@@ -38,7 +38,6 @@ cc_library(
         "//software/multithreading:subject",
         "//software/multithreading:threaded_observer",
         "//software/world",
-        "@boost//:bind",
     ],
 )
 

src/software/ai/hl/stp/play/play.cpp

@@ -15,7 +15,8 @@ Play::Play(TbotsProto::AiConfig ai_config, bool requires_goalie)
       goalie_tactic(std::make_shared<GoalieTactic>(ai_config)),
       halt_tactics(),
       requires_goalie(requires_goalie),
-      tactic_sequence(boost::bind(&Play::getNextTacticsWrapper, this, _1)),
+      tactic_sequence(
+          std::bind(&Play::getNextTacticsWrapper, this, std::placeholders::_1)),
       world_ptr_(std::nullopt),
       obstacle_factory(ai_config.robot_navigation_obstacle_config())
 {
@@ -42,7 +43,7 @@ PriorityTacticVector Play::getTactics(const WorldPtr &world_ptr)
     {
         // Make a new tactic_sequence
         tactic_sequence = TacticCoroutine::pull_type(
-            boost::bind(&Play::getNextTacticsWrapper, this, _1));
+            std::bind(&Play::getNextTacticsWrapper, this, std::placeholders::_1));
         // Run the coroutine. This will call the bound getNextTactics function
         tactic_sequence();
     }
@@ -61,7 +62,7 @@ PriorityTacticVector Play::getTactics(const WorldPtr &world_ptr)
     {
         // Make a new tactic_sequence
         tactic_sequence = TacticCoroutine::pull_type(
-            boost::bind(&Play::getNextTacticsWrapper, this, _1));
+            std::bind(&Play::getNextTacticsWrapper, this, std::placeholders::_1));
         // Run the coroutine. This will call the bound getNextTactics function
         tactic_sequence();
         if (tactic_sequence)

src/software/ai/hl/stp/play/play.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include <boost/bind.hpp>
 #include <boost/coroutine2/all.hpp>
 #include <vector>
 

src/software/ai/hl/stp/tactic/keep_away/keep_away_fsm.h

@@ -11,7 +11,7 @@ struct KeepAwayFSM
      *
      * @param ai_config The config to fetch parameters from
      */
-    explicit KeepAwayFSM(const TbotsProto::AiConfig& ai_config) : ai_config(ai_config){};
+    explicit KeepAwayFSM(const TbotsProto::AiConfig& ai_config) : ai_config(ai_config) {};
 
     struct ControlParams
     {

src/software/ai/threaded_ai.cpp

@@ -1,7 +1,5 @@
 #include "software/ai/threaded_ai.h"
 
-#include <boost/bind.hpp>
-
 #include "proto/message_translation/tbots_protobuf.h"
 #include "proto/parameters.pb.h"
 #include "software/ai/hl/stp/play/assigned_tactics_play.h"

src/software/embedded/services/network/network.cpp

@@ -30,8 +30,8 @@ NetworkService::NetworkService(const RobotId& robot_id, const std::string& ip_ad
 
         udp_listener_primitive =
             std::make_unique<ThreadedProtoUdpListener<TbotsProto::Primitive>>(
-                primitive_listener_port, std::bind(&NetworkService::primitiveCallback,
-                                                   this, std::placeholders::_1));
+                primitive_listener_port,
+                [&](TbotsProto::Primitive primitive) { primitiveCallback(primitive); });
     }
     catch (const TbotsNetworkException& e)
     {
@@ -51,7 +51,7 @@ NetworkService::NetworkService(const RobotId& robot_id, const std::string& ip_ad
 
     radio_listener_primitive_set =
         std::make_unique<ThreadedProtoRadioListener<TbotsProto::Primitive>>(
-            std::bind(&NetworkService::primitiveCallback, this, std::placeholders::_1));
+            [&](TbotsProto::Primitive primitive) { primitiveCallback(primitive); });
 }
 
 void NetworkService::onFullSystemIpNotification(

src/software/embedded/services/power.cpp

@@ -1,6 +1,5 @@
 #include "software/embedded/services/power.h"
 
-#include <boost/bind/bind.hpp>
 #include <boost/filesystem.hpp>
 #include <cstdint>
 
@@ -15,7 +14,7 @@ PowerService::PowerService()
         throw std::runtime_error("USB not plugged into the Jetson Nano");
     }
     this->uart = std::make_unique<BoostUartCommunication>(BAUD_RATE, DEVICE_SERIAL_PORT);
-    this->read_thread = std::thread(boost::bind(&PowerService::continuousRead, this));
+    this->read_thread = std::thread(std::bind(&PowerService::continuousRead, this));
 }
 
 PowerService::~PowerService()

src/software/estop/threaded_estop_reader.cpp

@@ -1,7 +1,5 @@
-
 #include "threaded_estop_reader.h"
 
-#include <boost/bind/bind.hpp>
 #include <thread>
 #include <utility>
 
@@ -12,13 +10,13 @@ ThreadedEstopReader::ThreadedEstopReader(std::unique_ptr<UartCommunication> uart
       timer(io_service, boost::posix_time::milliseconds(INTERVAL_BETWEEN_READS_MS)),
       uart_reader(std::move(uart_reader))
 {
-    estop_thread = std::thread(boost::bind(&ThreadedEstopReader::continousRead, this));
+    estop_thread = std::thread(std::bind(&ThreadedEstopReader::continousRead, this));
 }
 
 void ThreadedEstopReader::continousRead()
 {
     timer.async_wait(
-        boost::bind(&ThreadedEstopReader::tick, this, boost::asio::placeholders::error));
+        std::bind(&ThreadedEstopReader::tick, this, boost::asio::placeholders::error));
     io_service.run();
 }
 
@@ -87,8 +85,8 @@ void ThreadedEstopReader::tick(const boost::system::error_code& error)
         // Reschedule the timer for interval seconds in the future:
         timer.expires_from_now(next_interval);
         // Posts the timer event
-        timer.async_wait(boost::bind(&ThreadedEstopReader::tick, this,
-                                     boost::asio::placeholders::error));
+        timer.async_wait(std::bind(&ThreadedEstopReader::tick, this,
+                                   boost::asio::placeholders::error));
     }
 }
 

src/software/multithreading/BUILD

@@ -54,7 +54,6 @@ cc_library(
         ":observer",
         ":thread_safe_buffer",
         "//software/time:duration",
-        "@boost//:bind",
     ],
 )
 

src/software/multithreading/threaded_observer.hpp

@@ -1,6 +1,5 @@
 #pragma once
 
-#include <boost/bind.hpp>
 #include <thread>
 
 #include "software/multithreading/observer.hpp"
@@ -88,8 +87,8 @@ ThreadedObserver<T>::ThreadedObserver(size_t buffer_size, bool log_buffer_full)
       in_destructor(false),
       IN_DESTRUCTOR_CHECK_PERIOD(Duration::fromSeconds(0.1))
 {
-    pull_from_buffer_thread = std::thread(
-        boost::bind(&ThreadedObserver::continuouslyPullValuesFromBuffer, this));
+    pull_from_buffer_thread =
+        std::thread(std::bind(&ThreadedObserver::continuouslyPullValuesFromBuffer, this));
 }
 
 template <typename T>

src/software/networking/udp/proto_udp_listener.hpp

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <condition_variable>
 #include <mutex>
 #include <string>

src/software/networking/udp/threaded_proto_udp_sender.hpp

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <optional>
 #include <string>
 

src/software/networking/udp/threaded_udp_sender.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 #include "software/networking/udp/udp_sender.h"

src/software/networking/udp/udp_listener.cpp

@@ -115,9 +115,9 @@ void UdpListener::startListen()
     // https://stackoverflow.com/questions/34680985/what-is-the-difference-between-asynchronous-programming-and-multithreading
     socket_.async_receive_from(boost::asio::buffer(raw_received_data_, MAX_BUFFER_LENGTH),
                                sender_endpoint_,
-                               boost::bind(&UdpListener::handleDataReception, this,
-                                           boost::asio::placeholders::error,
-                                           boost::asio::placeholders::bytes_transferred));
+                               std::bind(&UdpListener::handleDataReception, this,
+                                         boost::asio::placeholders::error,
+                                         boost::asio::placeholders::bytes_transferred));
 }
 
 void UdpListener::handleDataReception(const boost::system::error_code& error,

src/software/networking/udp/udp_sender.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 class UdpSender

src/software/networking/unix/proto_unix_listener.hpp

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 #include "software/constants.h"
@@ -90,9 +89,9 @@ void ProtoUnixListener<ReceiveProtoT>::startListen()
     // https://stackoverflow.com/questions/34680985/what-is-the-difference-between-asynchronous-programming-and-multithreading
     socket_.async_receive_from(boost::asio::buffer(raw_received_data_, UNIX_BUFFER_SIZE),
                                listen_endpoint_,
-                               boost::bind(&ProtoUnixListener::handleDataReception, this,
-                                           boost::asio::placeholders::error,
-                                           boost::asio::placeholders::bytes_transferred));
+                               std::bind(&ProtoUnixListener::handleDataReception, this,
+                                         boost::asio::placeholders::error,
+                                         boost::asio::placeholders::bytes_transferred));
 }
 
 template <class ReceiveProtoT>

src/software/networking/unix/threaded_proto_unix_sender.hpp

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 #include "software/networking/unix/threaded_unix_sender.h"

src/software/networking/unix/threaded_unix_sender.cpp

@@ -1,7 +1,6 @@
 #include "software/networking/unix/threaded_unix_sender.h"
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 ThreadedUnixSender::ThreadedUnixSender(const std::string& unix_socket_path)

src/software/networking/unix/threaded_unix_sender.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 #include "software/networking/unix/unix_sender.h"

src/software/networking/unix/unix_sender.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 #include <type_traits>
 

src/software/simulated_tests/validation/non_terminating_function_validator.cpp

@@ -2,17 +2,15 @@
 
 #include <gtest/gtest.h>
 
-#include <boost/bind.hpp>
-
 NonTerminatingFunctionValidator::NonTerminatingFunctionValidator(
     ValidationFunction validation_function, std::shared_ptr<World> world)
     :  // We need to provide the world and validation_function in the coroutine function
        // binding so that the wrapper function has access to the correct variable context,
        // otherwise the World inside the coroutine will not update properly when the
        // pointer is updated, and the wrong validation_function may be run.
       validation_sequence(
-          boost::bind(&NonTerminatingFunctionValidator::executeAndCheckForFailuresWrapper,
-                      this, _1, world, validation_function)),
+          std::bind(&NonTerminatingFunctionValidator::executeAndCheckForFailuresWrapper,
+                    this, std::placeholders::_1, world, validation_function)),
       world_(world),
       validation_function_(validation_function)
 {
@@ -24,9 +22,9 @@ std::optional<std::string> NonTerminatingFunctionValidator::executeAndCheckForFa
     if (!validation_sequence)
     {
         // Re-start the coroutine by re-creating it
-        validation_sequence = ValidationCoroutine::pull_type(boost::bind(
-            &NonTerminatingFunctionValidator::executeAndCheckForFailuresWrapper, this, _1,
-            world_, validation_function_));
+        validation_sequence = ValidationCoroutine::pull_type(
+            std::bind(&NonTerminatingFunctionValidator::executeAndCheckForFailuresWrapper,
+                      this, std::placeholders::_1, world_, validation_function_));
     }
 
     // Run the coroutine. This will call the bound executeAndCheckForFailuresWrapper

src/software/simulated_tests/validation/terminating_function_validator.cpp

@@ -1,7 +1,5 @@
 #include "software/simulated_tests/validation/terminating_function_validator.h"
 
-#include <boost/bind.hpp>
-
 TerminatingFunctionValidator::TerminatingFunctionValidator(
     ValidationFunction validation_function,
     std::shared_ptr<World> world)
@@ -10,8 +8,8 @@ TerminatingFunctionValidator::TerminatingFunctionValidator(
        // otherwise the World inside the coroutine will not update properly when the
        // pointer is updated, and the wrong validation_function may be run.
       validation_sequence(
-          boost::bind(&TerminatingFunctionValidator::executeAndCheckForSuccessWrapper,
-                      this, _1, world, validation_function)),
+          std::bind(&TerminatingFunctionValidator::executeAndCheckForSuccessWrapper, this,
+                    std::placeholders::_1, world, validation_function)),
       current_error_message("")
 {
 }