Merge pull request #1329 from fspindle/feat_remove_pthread

Introduce std::thread and std::mutex usage instead of pthread
lagadic · Feb 8, 2024 · 0a5d4cf · 0a5d4cf
2 parents 5567e30 + 0386188
commit 0a5d4cf
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Showing 239 changed files with 925 additions and 2,823 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -117,7 +117,27 @@
     "stop_token": "cpp",
     "view": "cpp",
     "mixinvector": "cpp",
-    "charconv": "cpp"
+    "charconv": "cpp",
+    "coroutine": "cpp",
+    "resumable": "cpp",
+    "format": "cpp",
+    "ranges": "cpp",
+    "span": "cpp",
+    "xfacet": "cpp",
+    "xhash": "cpp",
+    "xiosbase": "cpp",
+    "xlocale": "cpp",
+    "xlocbuf": "cpp",
+    "xlocinfo": "cpp",
+    "xlocmes": "cpp",
+    "xlocmon": "cpp",
+    "xlocnum": "cpp",
+    "xloctime": "cpp",
+    "xmemory": "cpp",
+    "xstring": "cpp",
+    "xtr1common": "cpp",
+    "xtree": "cpp",
+    "xutility": "cpp"
   },
   "C_Cpp.vcFormat.indent.namespaceContents": false,
   "editor.formatOnSave": true,

diff --git a/3rdparty/simdlib/Simd/SimdAlignment.h b/3rdparty/simdlib/Simd/SimdAlignment.h
diff --git a/3rdparty/simdlib/Simd/SimdAllocator.hpp b/3rdparty/simdlib/Simd/SimdAllocator.hpp
diff --git a/3rdparty/simdlib/Simd/SimdArray.h b/3rdparty/simdlib/Simd/SimdArray.h
diff --git a/3rdparty/simdlib/Simd/SimdAvx1.h b/3rdparty/simdlib/Simd/SimdAvx1.h
diff --git a/3rdparty/simdlib/Simd/SimdAvx1Cpu.cpp b/3rdparty/simdlib/Simd/SimdAvx1Cpu.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx1Resizer.cpp b/3rdparty/simdlib/Simd/SimdAvx1Resizer.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2.h b/3rdparty/simdlib/Simd/SimdAvx2.h
diff --git a/3rdparty/simdlib/Simd/SimdAvx2BgrToBgra.cpp b/3rdparty/simdlib/Simd/SimdAvx2BgrToBgra.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2BgrToGray.cpp b/3rdparty/simdlib/Simd/SimdAvx2BgrToGray.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2BgrToRgb.cpp b/3rdparty/simdlib/Simd/SimdAvx2BgrToRgb.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2BgraToBgr.cpp b/3rdparty/simdlib/Simd/SimdAvx2BgraToBgr.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2BgraToGray.cpp b/3rdparty/simdlib/Simd/SimdAvx2BgraToGray.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2Cpu.cpp b/3rdparty/simdlib/Simd/SimdAvx2Cpu.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2Deinterleave.cpp b/3rdparty/simdlib/Simd/SimdAvx2Deinterleave.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2GaussianBlur.cpp b/3rdparty/simdlib/Simd/SimdAvx2GaussianBlur.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2Reduce.cpp b/3rdparty/simdlib/Simd/SimdAvx2Reduce.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2ReduceGray2x2.cpp b/3rdparty/simdlib/Simd/SimdAvx2ReduceGray2x2.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2ReduceGray3x3.cpp b/3rdparty/simdlib/Simd/SimdAvx2ReduceGray3x3.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2ReduceGray4x4.cpp b/3rdparty/simdlib/Simd/SimdAvx2ReduceGray4x4.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2ReduceGray5x5.cpp b/3rdparty/simdlib/Simd/SimdAvx2ReduceGray5x5.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2ResizeBilinear.cpp b/3rdparty/simdlib/Simd/SimdAvx2ResizeBilinear.cpp
diff --git a/3rdparty/simdlib/Simd/SimdAvx2Resizer.cpp b/3rdparty/simdlib/Simd/SimdAvx2Resizer.cpp
diff --git a/3rdparty/simdlib/Simd/SimdBase.h b/3rdparty/simdlib/Simd/SimdBase.h
diff --git a/3rdparty/simdlib/Simd/SimdBaseBgrToBgra.cpp b/3rdparty/simdlib/Simd/SimdBaseBgrToBgra.cpp
diff --git a/3rdparty/simdlib/Simd/SimdBaseBgrToGray.cpp b/3rdparty/simdlib/Simd/SimdBaseBgrToGray.cpp
diff --git a/3rdparty/simdlib/Simd/SimdBaseBgrToRgb.cpp b/3rdparty/simdlib/Simd/SimdBaseBgrToRgb.cpp
diff --git a/3rdparty/simdlib/Simd/SimdBaseBgraToBgr.cpp b/3rdparty/simdlib/Simd/SimdBaseBgraToBgr.cpp
diff --git a/3rdparty/simdlib/Simd/SimdBaseBgraToGray.cpp b/3rdparty/simdlib/Simd/SimdBaseBgraToGray.cpp
diff --git a/3rdparty/simdlib/Simd/SimdBaseCpu.cpp b/3rdparty/simdlib/Simd/SimdBaseCpu.cpp
diff --git a/3rdparty/simdlib/Simd/SimdBaseDeinterleave.cpp b/3rdparty/simdlib/Simd/SimdBaseDeinterleave.cpp
diff --git a/3rdparty/simdlib/Simd/SimdBaseGaussianBlur.cpp b/3rdparty/simdlib/Simd/SimdBaseGaussianBlur.cpp
diff --git a/3rdparty/simdlib/Simd/SimdBaseResizer.cpp b/3rdparty/simdlib/Simd/SimdBaseResizer.cpp
diff --git a/3rdparty/simdlib/Simd/SimdConfig.h b/3rdparty/simdlib/Simd/SimdConfig.h
diff --git a/3rdparty/simdlib/Simd/SimdConst.h b/3rdparty/simdlib/Simd/SimdConst.h
diff --git a/3rdparty/simdlib/Simd/SimdConversion.h b/3rdparty/simdlib/Simd/SimdConversion.h
diff --git a/3rdparty/simdlib/Simd/SimdCopyPixel.h b/3rdparty/simdlib/Simd/SimdCopyPixel.h
diff --git a/3rdparty/simdlib/Simd/SimdCpu.h b/3rdparty/simdlib/Simd/SimdCpu.h
diff --git a/3rdparty/simdlib/Simd/SimdDefs.h b/3rdparty/simdlib/Simd/SimdDefs.h
diff --git a/3rdparty/simdlib/Simd/SimdEnable.h b/3rdparty/simdlib/Simd/SimdEnable.h
diff --git a/3rdparty/simdlib/Simd/SimdExp.h b/3rdparty/simdlib/Simd/SimdExp.h
diff --git a/3rdparty/simdlib/Simd/SimdExtract.h b/3rdparty/simdlib/Simd/SimdExtract.h
diff --git a/3rdparty/simdlib/Simd/SimdFrame.hpp b/3rdparty/simdlib/Simd/SimdFrame.hpp
diff --git a/3rdparty/simdlib/Simd/SimdInit.h b/3rdparty/simdlib/Simd/SimdInit.h
diff --git a/3rdparty/simdlib/Simd/SimdLib.cpp b/3rdparty/simdlib/Simd/SimdLib.cpp
diff --git a/3rdparty/simdlib/Simd/SimdLib.h b/3rdparty/simdlib/Simd/SimdLib.h
diff --git a/3rdparty/simdlib/Simd/SimdLib.hpp b/3rdparty/simdlib/Simd/SimdLib.hpp
diff --git a/3rdparty/simdlib/Simd/SimdLoad.h b/3rdparty/simdlib/Simd/SimdLoad.h
diff --git a/3rdparty/simdlib/Simd/SimdLoadBlock.h b/3rdparty/simdlib/Simd/SimdLoadBlock.h
diff --git a/3rdparty/simdlib/Simd/SimdLog.h b/3rdparty/simdlib/Simd/SimdLog.h
diff --git a/3rdparty/simdlib/Simd/SimdMath.h b/3rdparty/simdlib/Simd/SimdMath.h
diff --git a/3rdparty/simdlib/Simd/SimdMemory.h b/3rdparty/simdlib/Simd/SimdMemory.h
diff --git a/3rdparty/simdlib/Simd/SimdNeon.h b/3rdparty/simdlib/Simd/SimdNeon.h
diff --git a/3rdparty/simdlib/Simd/SimdNeonBgrToBgra.cpp b/3rdparty/simdlib/Simd/SimdNeonBgrToBgra.cpp
diff --git a/3rdparty/simdlib/Simd/SimdNeonBgrToGray.cpp b/3rdparty/simdlib/Simd/SimdNeonBgrToGray.cpp
diff --git a/3rdparty/simdlib/Simd/SimdNeonBgrToRgb.cpp b/3rdparty/simdlib/Simd/SimdNeonBgrToRgb.cpp
diff --git a/3rdparty/simdlib/Simd/SimdNeonBgraToBgr.cpp b/3rdparty/simdlib/Simd/SimdNeonBgraToBgr.cpp
diff --git a/3rdparty/simdlib/Simd/SimdNeonBgraToGray.cpp b/3rdparty/simdlib/Simd/SimdNeonBgraToGray.cpp
diff --git a/3rdparty/simdlib/Simd/SimdNeonDeinterleave.cpp b/3rdparty/simdlib/Simd/SimdNeonDeinterleave.cpp
diff --git a/3rdparty/simdlib/Simd/SimdNeonGaussianBlur.cpp b/3rdparty/simdlib/Simd/SimdNeonGaussianBlur.cpp
diff --git a/3rdparty/simdlib/Simd/SimdNeonResizer.cpp b/3rdparty/simdlib/Simd/SimdNeonResizer.cpp
diff --git a/3rdparty/simdlib/Simd/SimdPixel.hpp b/3rdparty/simdlib/Simd/SimdPixel.hpp
diff --git a/3rdparty/simdlib/Simd/SimdPow.h b/3rdparty/simdlib/Simd/SimdPow.h
diff --git a/3rdparty/simdlib/Simd/SimdResizer.h b/3rdparty/simdlib/Simd/SimdResizer.h
diff --git a/3rdparty/simdlib/Simd/SimdResizerCommon.h b/3rdparty/simdlib/Simd/SimdResizerCommon.h
diff --git a/3rdparty/simdlib/Simd/SimdRuntime.h b/3rdparty/simdlib/Simd/SimdRuntime.h
diff --git a/3rdparty/simdlib/Simd/SimdSet.h b/3rdparty/simdlib/Simd/SimdSet.h
diff --git a/3rdparty/simdlib/Simd/SimdSse41.h b/3rdparty/simdlib/Simd/SimdSse41.h
diff --git a/3rdparty/simdlib/Simd/SimdSse41BgrToBgra.cpp b/3rdparty/simdlib/Simd/SimdSse41BgrToBgra.cpp
diff --git a/3rdparty/simdlib/Simd/SimdSse41BgrToGray.cpp b/3rdparty/simdlib/Simd/SimdSse41BgrToGray.cpp
diff --git a/3rdparty/simdlib/Simd/SimdSse41BgrToRgb.cpp b/3rdparty/simdlib/Simd/SimdSse41BgrToRgb.cpp
diff --git a/3rdparty/simdlib/Simd/SimdSse41BgraToBgr.cpp b/3rdparty/simdlib/Simd/SimdSse41BgraToBgr.cpp
diff --git a/3rdparty/simdlib/Simd/SimdSse41Cpu.cpp b/3rdparty/simdlib/Simd/SimdSse41Cpu.cpp
diff --git a/3rdparty/simdlib/Simd/SimdSse41GaussianBlur.cpp b/3rdparty/simdlib/Simd/SimdSse41GaussianBlur.cpp
diff --git a/3rdparty/simdlib/Simd/SimdSse41GrayToBgr.cpp b/3rdparty/simdlib/Simd/SimdSse41GrayToBgr.cpp
diff --git a/3rdparty/simdlib/Simd/SimdSse41Reduce.cpp b/3rdparty/simdlib/Simd/SimdSse41Reduce.cpp
diff --git a/3rdparty/simdlib/Simd/SimdSse41ReduceGray2x2.cpp b/3rdparty/simdlib/Simd/SimdSse41ReduceGray2x2.cpp
diff --git a/3rdparty/simdlib/Simd/SimdSse41ReduceGray4x4.cpp b/3rdparty/simdlib/Simd/SimdSse41ReduceGray4x4.cpp
diff --git a/3rdparty/simdlib/Simd/SimdSse41ResizeBilinear.cpp b/3rdparty/simdlib/Simd/SimdSse41ResizeBilinear.cpp
diff --git a/3rdparty/simdlib/Simd/SimdSse41Resizer.cpp b/3rdparty/simdlib/Simd/SimdSse41Resizer.cpp
diff --git a/3rdparty/simdlib/Simd/SimdStore.h b/3rdparty/simdlib/Simd/SimdStore.h
diff --git a/3rdparty/simdlib/Simd/SimdStream.h b/3rdparty/simdlib/Simd/SimdStream.h
diff --git a/3rdparty/simdlib/Simd/SimdUpdate.h b/3rdparty/simdlib/Simd/SimdUpdate.h
diff --git a/3rdparty/simdlib/Simd/SimdView.hpp b/3rdparty/simdlib/Simd/SimdView.hpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -586,17 +586,8 @@ if(SOQT_FOUND) # SoQt < 1.6.0 that depends on Qt4 was found. We need an explicit
   VP_OPTION(USE_QT        Qt          ""    "Include Coin/SoQt/Qt support" "" ON  IF USE_SOQT AND NOT WINRT AND NOT IOS)
 endif()
 VP_OPTION(USE_SOXT        SOXT        ""    "Include Coin/SoXt support"    "" OFF IF USE_COIN3D AND NOT WINRT AND NOT IOS)
-set(THREADS_PREFER_PTHREAD_FLAG ON)
-VP_OPTION(USE_THREADS     Threads     ""    "Include std::thread support"      "" ON IF NOT (WIN32 OR MINGW))
-
-# We need threads. To be changed to make threads optional
-if(NOT USE_THREADS)
-  if(Threads_FOUND)
-    message(WARNING "We need std::thread. We turn USE_THREADS=ON.")
-    unset(USE_THREADS)
-    set(USE_THREADS ON CACHE BOOL "Include std::thread support" FORCE)
-  endif()
-endif()
+set(THREADS_PREFER_PTHREAD_FLAG TRUE)
+VP_OPTION(USE_THREADS     Threads     ""    "Include std::thread support"  "" ON)
 
 VP_OPTION(USE_XML2        XML2        ""    "Include libxml2 support"      "" ON IF NOT WINRT)
 if(CMAKE_TOOLCHAIN_FILE)
@@ -613,7 +604,7 @@ VP_OPTION(USE_X11         X11         ""    "Include X11 support"          "${X1
 VP_OPTION(USE_GTK2        MyGTK2       ""    "Include gtk2 support"         "" OFF IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_JPEG       "JPEG;MyJPEG" ""    "Include jpeg support"         "" ON IF NOT IOS)
 VP_OPTION(USE_PNG        "PNG;MyPNG"   ""    "Include png support"          "" ON IF NOT IOS)
-# To control Pioneer mobile robots, under UNIX we need Aria, pthread, rt and dl 3rd party libraries
+# To control Pioneer mobile robots, under UNIX we need Aria and std::threads, rt and dl 3rd party libraries
 VP_OPTION(USE_ARIA        ARIA         ""    "Include aria support"         "" ON IF NOT WINRT AND NOT IOS)
 #VP_OPTION(USE_RT          RT           ""    "Include rt support"           "" ON)
 #VP_OPTION(USE_DL          DL           ""    "Include dl support"           "" ON)
@@ -624,7 +615,6 @@ VP_OPTION(USE_PCL         PCL          QUIET "Include Point Cloud Library suppor
 VP_OPTION(USE_TENSORRT    TensorRT     ""    "Include TensorRT support"     "" ON IF NOT WINRT AND NOT IOS)
 VP_OPTION(USE_NLOHMANN_JSON nlohmann_json QUIET "Include nlohmann json support" "" ON)
 
-# Upgrade c++ standard to 14 for pcl 1.9.1.99 that enables by default c++ 14 standard
 if(USE_PCL)
   # PCL is used in modules gui, sensor and mbt.
   # In these modules we cannot directly use PCL_INCLUDE_DIRS and PCL_LIBRARIES using:
@@ -700,14 +690,23 @@ if(VISP_CXX_STANDARD LESS VISP_CXX_STANDARD_11)
     unset(USE_ARSDK)
     set(USE_ARSDK OFF CACHE BOOL "Include Parrot ARSDK support" FORCE)
   endif()
+  if(USE_THREADS)
+    message(WARNING "std::thread was detected but needs at least c++11 standard compiler flag while you have set c++${USE_CXX_STANDARD}. Thus we disable std::thread usage turning USE_THREADS=OFF.")
+    unset(USE_THREADS)
+    set(USE_THREADS OFF CACHE BOOL "Include std::thread support" FORCE)
+  elseif(UNIX)
+    # Apriltag on unix needs pthread. On windows we are using pthread built-in
+    if(Threads_FOUND)
+      set(USE_PTHREAD ON) # for AprilTag only
+    endif()
+  endif()
 endif()
-
 # ----------------------------------------------------------------------------
 # Build-in 3rd parties. Should be after c++ standard potential modification
 # ----------------------------------------------------------------------------
-VP_OPTION(WITH_PTHREAD    ""           ""    "Build pthread as built-in library"   "" ON IF (NOT USE_THREADS) AND (WIN32 OR MINGW) AND (NOT WINRT))
+VP_OPTION(WITH_PTHREAD    ""           ""    "Build pthread as built-in library"   "" ON IF (WIN32 OR MINGW) AND (NOT WINRT))
 # Since C99 is not supported by MSVC 2010 or prior, we disable apriltag if MSVC < 2012
-VP_OPTION(WITH_APRILTAG   ""           ""    "Build AprilTag as built-in library"  "" ON IF (USE_THREADS OR WITH_PTHREAD) AND (NOT WINRT) AND (NOT MSVC_VERSION LESS 1700))
+VP_OPTION(WITH_APRILTAG   ""           ""    "Build AprilTag as built-in library"  "" ON IF (USE_THREADS OR USE_PTHREAD OR WITH_PTHREAD) AND (NOT WINRT) AND (NOT MSVC_VERSION LESS 1700))
 VP_OPTION(WITH_APRILTAG_BIG_FAMILY ""  ""    "Build AprilTag big family (41h12, 48h12, 49h12, 52h13)" "" OFF IF WITH_APRILTAG)
 VP_OPTION(WITH_ATIDAQ     ""           ""    "Build atidaq-c as built-in library"  "" ON IF USE_COMEDI AND NOT WINRT)
 VP_OPTION(WITH_CLIPPER    ""           ""    "Build clipper as built-in library"   "" ON IF USE_OPENCV)
@@ -996,7 +995,10 @@ VP_SET(VISP_HAVE_LAPACK_GSL      TRUE IF (BUILD_MODULE_visp_core AND USE_GSL))
 VP_SET(VISP_HAVE_LAPACK_MKL      TRUE IF (BUILD_MODULE_visp_core AND USE_MKL))
 VP_SET(VISP_HAVE_LAPACK_NETLIB   TRUE IF (BUILD_MODULE_visp_core AND USE_NETLIB))
 VP_SET(VISP_HAVE_LAPACK_OPENBLAS TRUE IF (BUILD_MODULE_visp_core AND USE_OPENBLAS))
-VP_SET(VISP_HAVE_PTHREAD     TRUE IF (BUILD_MODULE_visp_core AND USE_THREADS)) # Keep for the momment for compat
+
+# Keep VISP_HAVE_PTHREAD for the moment for compat and for vpMutex and vpThread deprecated classes
+VP_SET(VISP_HAVE_PTHREAD     TRUE IF (BUILD_MODULE_visp_core AND (USE_PTHREAD AND UNIX)))
+
 VP_SET(VISP_HAVE_THREADS     TRUE IF (BUILD_MODULE_visp_core AND USE_THREADS))
 VP_SET(VISP_HAVE_XML2        TRUE IF (BUILD_MODULE_visp_core AND USE_XML2))
 VP_SET(VISP_HAVE_PCL         TRUE IF (BUILD_MODULE_visp_core AND USE_PCL))
@@ -1730,6 +1732,7 @@ status("")
 status("  Optimization: ")
 status("    Use OpenMP:"             USE_OPENMP         THEN "yes" ELSE "no")
 status("    Use std::thread:"        USE_THREADS        THEN "yes" ELSE "no")
+status("    Use pthread:"            USE_PHREADS        THEN "yes" ELSE "no")
 status("    Use pthread (built-in):" WITH_PTHREAD       THEN "yes (ver ${PTHREADS_VERSION})" ELSE "no")
 status("    Use simdlib (built-in):" WITH_SIMDLIB       THEN "yes" ELSE "no")
 status("")

diff --git a/apps/calibration/hand_eye_calibration_show_extrinsics.py b/apps/calibration/hand_eye_calibration_show_extrinsics.py
diff --git a/cmake/templates/visp-config.bat.in b/cmake/templates/visp-config.bat.in
diff --git a/cmake/templates/vpConfig.h.in b/cmake/templates/vpConfig.h.in
@@ -146,7 +146,7 @@
 // Defined if XML2 library available.
 #cmakedefine VISP_HAVE_XML2
 
-// Defined if pthread library available.
+// Defined if pthread library available (deprecated).
 #cmakedefine VISP_HAVE_PTHREAD
 
 // Defined if std::thread available.

diff --git a/doc/image/tutorial/started/img-monkey-win.jpg b/doc/image/tutorial/started/img-monkey-win.jpg
diff --git a/doc/image/tutorial/visual-servo/img-bebop2-coord-system.png b/doc/image/tutorial/visual-servo/img-bebop2-coord-system.png
diff --git a/example/calibration/camera_calibration_show_extrinsics.py b/example/calibration/camera_calibration_show_extrinsics.py
diff --git a/example/device/framegrabber/CMakeLists.txt b/example/device/framegrabber/CMakeLists.txt
@@ -48,7 +48,6 @@ set(example_cpp
   grabDirectShow.cpp
   grabDirectShowMulti.cpp
   grabFlyCapture.cpp
-  grabRealSense.cpp
   grabRealSense2.cpp
   grabRealSense2_T265.cpp
   grabV4l2MultiCpp11Thread.cpp
@@ -83,7 +82,6 @@ if(VISP_HAVE_REALSENSE OR VISP_HAVE_REALSENSE2)
   list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-unqualified-std-cast-call")
 
   visp_set_source_file_compile_flag(getRealSense2Info.cpp ${CXX_FLAGS_MUTE_WARNINGS})
-  visp_set_source_file_compile_flag(grabRealSense.cpp ${CXX_FLAGS_MUTE_WARNINGS})
   visp_set_source_file_compile_flag(grabRealSense2.cpp ${CXX_FLAGS_MUTE_WARNINGS})
   visp_set_source_file_compile_flag(grabRealSense2_T265.cpp ${CXX_FLAGS_MUTE_WARNINGS})
   visp_set_source_file_compile_flag(readRealSenseData.cpp ${CXX_FLAGS_MUTE_WARNINGS})

diff --git a/example/device/framegrabber/grabRealSense.cpp b/example/device/framegrabber/grabRealSense.cpp