Feat biclops without pthread

CMakeLists.txt

@@ -549,14 +549,14 @@ if(SOQT_FOUND) # SoQt < 1.6.0 that depends on Qt4 was found. We need an explicit
 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_PTHREAD     Threads     ""    "Include pthread support"      "" ON IF NOT (WIN32 OR MINGW))
+VP_OPTION(USE_THREADS     Threads     ""    "Include std::thread support"      "" ON IF NOT (WIN32 OR MINGW))
 
 # We need threads with c++11
-if((VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98) AND NOT USE_PTHREAD)
+if((VISP_CXX_STANDARD GREATER VISP_CXX_STANDARD_98) AND NOT USE_THREADS)
   if(Threads_FOUND)
-    message(WARNING "We need threads. Turn USE_PTHREAD=ON.")
-    unset(USE_PTHREAD)
-    set(USE_PTHREAD ON CACHE BOOL "Include pthread support" FORCE)
+    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()
 
@@ -658,9 +658,9 @@ 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_PTHREAD) AND (WIN32 OR MINGW) AND (NOT WINRT_8_1) AND (NOT WINRT_8_0))
+VP_OPTION(WITH_PTHREAD    ""           ""    "Build pthread as built-in library"   "" ON IF (NOT USE_THREADS) AND (WIN32 OR MINGW) AND (NOT WINRT_8_1) AND (NOT WINRT_8_0))
 # 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_PTHREAD OR WITH_PTHREAD) AND (NOT WINRT_8_1) AND (NOT WINRT_8_0) AND (NOT MSVC_VERSION LESS 1700))
+VP_OPTION(WITH_APRILTAG   ""           ""    "Build AprilTag as built-in library"  "" ON IF (USE_THREADS OR WITH_PTHREAD) AND (NOT WINRT_8_1) AND (NOT WINRT_8_0) 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)
@@ -890,7 +890,8 @@ 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_PTHREAD))
+VP_SET(VISP_HAVE_PTHREAD     TRUE IF (BUILD_MODULE_visp_core AND USE_THREADS)) # Keep for the momment for compat
+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))
 VP_SET(VISP_HAVE_TENSORRT    TRUE IF (BUILD_MODULE_visp_core AND USE_TENSORRT))
@@ -915,22 +916,22 @@ VP_SET(VISP_HAVE_UR_RTDE     TRUE IF (BUILD_MODULE_visp_robot AND USE_UR_RTDE))
 VP_SET(VISP_HAVE_FRANKA      TRUE IF (BUILD_MODULE_visp_robot AND USE_FRANKA))
 VP_SET(VISP_HAVE_JACOSDK     TRUE IF (BUILD_MODULE_visp_robot AND USE_JACOSDK))
 VP_SET(VISP_HAVE_MAVSDK      TRUE IF (BUILD_MODULE_visp_robot AND USE_MAVSDK))
-VP_SET(VISP_HAVE_BICLOPS     TRUE IF (BUILD_MODULE_visp_robot AND USE_BICLOPS))
+VP_SET(VISP_HAVE_BICLOPS     TRUE IF (BUILD_MODULE_visp_robot AND USE_BICLOPS AND USE_THREADS))
 VP_SET(VISP_HAVE_PTU46       TRUE IF (BUILD_MODULE_visp_robot AND USE_PTU46))
 VP_SET(VISP_HAVE_FLIR_PTU_SDK TRUE IF (BUILD_MODULE_visp_robot AND USE_FLIRPTUSDK))
 VP_SET(VISP_HAVE_ARSDK       TRUE IF (BUILD_MODULE_visp_robot AND USE_ARSDK))
 VP_SET(VISP_HAVE_FFMPEG      TRUE IF (BUILD_MODULE_visp_robot AND USE_FFMPEG))
 #VP_SET(VISP_HAVE_PIONEER     TRUE IF (BUILD_MODULE_visp_robot AND USE_ARIA))
 if(BUILD_MODULE_visp_robot AND USE_ARIA)
-  if(UNIX AND USE_PTHREAD AND RT_FOUND AND DL_FOUND)
+  if(UNIX AND USE_THREADS AND RT_FOUND AND DL_FOUND)
     set(VISP_HAVE_PIONEER TRUE)
   elseif(NOT UNIX)
     set(VISP_HAVE_PIONEER TRUE)
   endif()
 endif()
 #VP_SET(VISP_HAVE_VIRTUOSE    TRUE IF (BUILD_MODULE_visp_robot AND USE_VIRTUOSE))
 if(BUILD_MODULE_visp_robot AND USE_VIRTUOSE)
-  if(UNIX AND USE_PTHREAD AND RT_FOUND AND DL_FOUND)
+  if(UNIX AND USE_THREADS AND RT_FOUND AND DL_FOUND)
     set(VISP_HAVE_VIRTUOSE TRUE)
   elseif(NOT UNIX)
     set(VISP_HAVE_VIRTUOSE TRUE)
@@ -970,9 +971,9 @@ VP_SET(VISP_HAVE_D3D9        TRUE IF USE_DIRECT3D) # for header vpConfig.h
 VP_SET(VISP_HAVE_GTK         TRUE IF USE_GTK2) # for header vpConfig.h
 VP_SET(VISP_HAVE_XRANDR      TRUE IF XRANDR) # for header vpConfig.h
 
-# Check if libfreenect dependencies (ie libusb-1.0 and libpthread) are available
-if(USE_LIBFREENECT AND USE_LIBUSB_1 AND USE_PTHREAD)
-  if(LIBFREENECT_FOUND AND LIBUSB_1_FOUND AND PTHREAD_FOUND)
+# Check if libfreenect dependencies (ie libusb-1.0 and threads) are available
+if(USE_LIBFREENECT AND USE_LIBUSB_1 AND USE_THREADS)
+  if(LIBFREENECT_FOUND AND LIBUSB_1_FOUND)
     set(VISP_HAVE_LIBFREENECT_AND_DEPENDENCIES TRUE)
 
     # The material is found. Check if libfreenect is an old version
@@ -1092,7 +1093,7 @@ endif()
 
 # libraries for Pioneer mobile robots
 if(USE_ARIA AND UNIX)
-  if(ARIA_FOUND AND USE_PTHREAD AND RT_FOUND AND DL_FOUND)
+  if(ARIA_FOUND AND USE_THREADS AND RT_FOUND AND DL_FOUND)
     set(VISP_HAVE_PIONEER TRUE) # for header vpConfig.h
   endif()
 elseif(USE_ARIA AND NOT UNIX)
@@ -1571,10 +1572,10 @@ status("  RGB-D sensors: ")
 status("    Use Realsense:"          USE_REALSENSE    THEN "yes (ver ${REALSENSE_VERSION})" ELSE "no")
 status("    Use Realsense2:"         USE_REALSENSE2   THEN "yes (ver ${REALSENSE2_VERSION})" ELSE "no")
 status("    Use Occipital Structure:"          USE_OCCIPITAL_STRUCTURE    THEN "yes" ELSE "no")
-status("    Use Kinect:"             USE_LIBFREENECT AND USE_LIBUSB_1 AND USE_PTHREAD THEN "yes" ELSE "no")
+status("    Use Kinect:"             USE_LIBFREENECT AND USE_LIBUSB_1 AND USE_THREADS THEN "yes" ELSE "no")
 status("    \\- Use libfreenect:"    USE_LIBFREENECT  THEN "yes (ver ${LIBFREENECT_VERSION})" ELSE "no")
 status("    \\- Use libusb-1:"       USE_LIBUSB_1     THEN "yes (ver ${LIBUSB_1_VERSION})" ELSE "no")
-status("    \\- Use pthread:"        USE_PTHREAD      THEN "yes" ELSE "no")
+status("    \\- Use std::thread:"    USE_THREADS      THEN "yes" ELSE "no")
 status("    Use PCL:"                USE_PCL          THEN "yes (ver ${PCL_VERSION})" ELSE "no")
 status("    \\- Use VTK:"            VTK_FOUND        THEN "yes (ver ${VTK_VERSION})" ELSE "no")
 status("")
@@ -1601,7 +1602,7 @@ status("    Use json (nlohmann):"     USE_NLOHMANN_JSON THEN "yes (ver ${nlohman
 status("")
 status("  Optimization: ")
 status("    Use OpenMP:"             USE_OPENMP         THEN "yes" ELSE "no")
-status("    Use pthread:"            USE_PTHREAD        THEN "yes" ELSE "no")
+status("    Use st::thread:"         USE_THREADS        THEN "yes" ELSE "no")
 status("    Use pthread (built-in):" WITH_PTHREAD       THEN "yes (ver ${PTHREADS_VERSION})" ELSE "no")
 status("    Use Simd (built-in):"                            "yes (ver ${SIMD_VERSION})")
 status("")

CTestConfig.cmake

@@ -281,8 +281,8 @@ if(VISP_HAVE_XML2)
   set(BUILDNAME "${BUILDNAME}-xml")
 endif()
 # PThread
-if(VISP_HAVE_PTHREAD)
-  set(BUILDNAME "${BUILDNAME}-pthread")
+if(VISP_HAVE_THREADS)
+  set(BUILDNAME "${BUILDNAME}-threads")
 endif()
 # OpenMP
 if(VISP_HAVE_OPENMP)

ChangeLog.txt

@@ -1037,7 +1037,7 @@ ViSP 2.6.1 (released October 20th, 2011)
        vpRobotSimulator, vpFFMPEG, vpBSpline
      - It is now possible to grab images from an usb webcam with the
        vpV4l2Grabber class that is based on the video 4 linux 2 driver.
-     - When it was possible without braking the backward compatibilty
+     - When it was possible without braking the backward compatibility
        std::list was introduced instead of vpList. Some of the functions that
        use vpList are now deprecated.
      - Better detection of image or video file types when used in vpImageIo,

cmake/AddExtraCompilationFlags.cmake

@@ -113,7 +113,7 @@ if(USE_OPENMP)
   add_extra_compiler_option("${OpenMP_CXX_FLAGS}")
 endif()
 
-if(USE_PTHREAD)
+if(USE_THREADS)
   if(THREADS_HAVE_PTHREAD_ARG)
     add_extra_compiler_option("-pthread")
   endif()

cmake/templates/VISPConfig.cmake.in

@@ -259,6 +259,7 @@ set(VISP_HAVE_SOWIN          "@VISP_HAVE_SOWIN@")
 set(VISP_HAVE_SOXT           "@VISP_HAVE_SOXT@")
 set(VISP_HAVE_TAKKTILE2      "@VISP_HAVE_TAKKTILE2@")
 set(VISP_HAVE_TENSORRT       "@VISP_HAVE_TENSORRT@")
+set(VISP_HAVE_THREADS        "@VISP_HAVE_THREADS@")
 set(VISP_HAVE_UEYE           "@VISP_HAVE_UEYE@")
 set(VISP_HAVE_UR_RTDE        "@VISP_HAVE_UR_RTDE@")
 set(VISP_HAVE_V4L2           "@VISP_HAVE_V4L2@")

cmake/templates/vpConfig.h.in

@@ -149,6 +149,9 @@
 // Defined if pthread library available.
 #cmakedefine VISP_HAVE_PTHREAD
 
+// Defined if std::thread available.
+#cmakedefine VISP_HAVE_THREADS
+
 // Defined if YARP available.
 #cmakedefine VISP_HAVE_YARP
 

doc/config-doxygen.in

@@ -2220,6 +2220,7 @@ PREDEFINED             = @DOXYGEN_SHOULD_SKIP_THIS@ \
                          VISP_HAVE_SOXT \
                          VISP_HAVE_TAKKTILE2 \
                          VISP_HAVE_TENSORRT \
+                         VISP_HAVE_THREADS \
                          VISP_HAVE_UEYE \
                          VISP_HAVE_UR_RTDE \
                          VISP_HAVE_V4L2 \

example/servo-biclops/moveBiclops.cpp

@@ -41,14 +41,14 @@
  * See http://www.traclabs.com/tracbiclops.htm for more details.
  */
 
-#include <stdlib.h>
-#include <visp3/core/vpColVector.h>
-#include <visp3/core/vpDebug.h>
-#include <visp3/core/vpTime.h>
-#include <visp3/io/vpParseArgv.h>
+#include <iostream>
+
+#include <visp3/core/vpConfig.h>
+
 #ifdef VISP_HAVE_BICLOPS
 
 #include <visp3/robot/vpRobotBiclops.h>
+#include <visp3/io/vpParseArgv.h>
 
 // List of allowed command line options
 #define GETOPTARGS "c:h"
@@ -145,49 +145,49 @@ int main(int argc, const char **argv)
     q = 0;
     q[0] = vpMath::rad(-10);
     q[1] = vpMath::rad(-20);
-    std::cout << "Set position in the articular frame: "
+    std::cout << "Set Joint position "
       << " pan: " << vpMath::deg(q[0]) << " deg"
       << " tilt: " << vpMath::deg(q[1]) << " deg" << std::endl;
     robot.setPositioningVelocity(30.);
     robot.setPosition(vpRobot::JOINT_STATE, q);
 
     robot.getPosition(vpRobot::JOINT_STATE, qm);
-    std::cout << "Position in the articular frame: "
+    std::cout << "  Joint position "
       << " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
     robot.getVelocity(vpRobot::JOINT_STATE, qm);
-    std::cout << "Velocity in the articular frame: "
+    std::cout << "  Joint velocity "
       << " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
 
     q[0] = vpMath::rad(10);
     q[1] = vpMath::rad(20);
-    std::cout << "Set position in the articular frame: "
+    std::cout << "Set Joint position "
       << " pan: " << vpMath::deg(q[0]) << " deg"
       << " tilt: " << vpMath::deg(q[1]) << " deg" << std::endl;
     robot.setPositioningVelocity(10);
     robot.setPosition(vpRobot::JOINT_STATE, q);
 
     robot.getPosition(vpRobot::JOINT_STATE, qm);
-    std::cout << "Position in the articular frame: "
+    std::cout << "  Joint position: "
       << " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
     robot.getVelocity(vpRobot::JOINT_STATE, qm);
-    std::cout << "Velocity in the articular frame: "
+    std::cout << "  Joint velocity: "
       << " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
 
     std::cout << "Set STATE_VELOCITY_CONTROL" << std::endl;
     robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
 
     robot.getPosition(vpRobot::JOINT_STATE, qm);
-    std::cout << "Position in the articular frame: "
+    std::cout << "  Joint position: "
       << " pan: " << vpMath::deg(qm[0]) << " deg"
       << " tilt: " << vpMath::deg(qm[1]) << " deg" << std::endl;
     robot.getVelocity(vpRobot::JOINT_STATE, qm);
-    std::cout << "Velocity in the articular frame: "
+    std::cout << "  Joint velocity "
       << " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
 
     qdot = 0;
     //  qdot[0] = vpMath::rad(0.1) ;
     qdot[1] = vpMath::rad(25);
-    std::cout << "Set articular frame velocity for 5 sec"
+    std::cout << "Set joint velocity for 5 sec"
       << " pan: " << vpMath::deg(qdot[0]) << " deg/s"
       << " tilt: " << vpMath::deg(qdot[1]) << " deg/s" << std::endl;
     robot.setVelocity(vpRobot::JOINT_STATE, qdot);
@@ -196,17 +196,17 @@ int main(int argc, const char **argv)
     vpTime::wait(5000.0);
 
     robot.getPosition(vpRobot::JOINT_STATE, qm);
-    std::cout << "Position in the articular frame: "
+    std::cout << "  Joint position "
       << " pan: " << vpMath::deg(qm[0]) << " deg"
       << " tilt: " << vpMath::deg(qm[1]) << " deg" << std::endl;
     robot.getVelocity(vpRobot::JOINT_STATE, qm);
-    std::cout << "Velocity in the articular frame: "
+    std::cout << "  Joint velocity "
       << " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
 
     qdot = 0;
     //  qdot[0] = vpMath::rad(0.1) ;
     qdot[1] = -vpMath::rad(25);
-    std::cout << "Set articular frame velocity for 3 sec"
+    std::cout << "Set joint velocity for 3 sec"
       << " pan: " << vpMath::deg(qdot[0]) << " deg/s"
       << " tilt: " << vpMath::deg(qdot[1]) << " deg/s" << std::endl;
     robot.setVelocity(vpRobot::JOINT_STATE, qdot);
@@ -215,17 +215,17 @@ int main(int argc, const char **argv)
     vpTime::wait(3000.0);
 
     robot.getPosition(vpRobot::JOINT_STATE, qm);
-    std::cout << "Position in the articular frame: "
+    std::cout << "  Joint position "
       << " pan: " << vpMath::deg(qm[0]) << " deg"
       << " tilt: " << vpMath::deg(qm[1]) << " deg" << std::endl;
     robot.getVelocity(vpRobot::JOINT_STATE, qm);
-    std::cout << "Velocity in the articular frame: "
+    std::cout << "  Joint velocity "
       << " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
 
     qdot = 0;
     //  qdot[0] = vpMath::rad(0.1) ;
     qdot[1] = vpMath::rad(10);
-    std::cout << "Set articular frame velocity for 2 sec"
+    std::cout << "Set joint velocity for 2 sec"
       << " pan: " << vpMath::deg(qdot[0]) << " deg/s"
       << " tilt: " << vpMath::deg(qdot[1]) << " deg/s" << std::endl;
     robot.setVelocity(vpRobot::JOINT_STATE, qdot);
@@ -234,18 +234,18 @@ int main(int argc, const char **argv)
     vpTime::wait(2000.0);
 
     robot.getPosition(vpRobot::JOINT_STATE, qm);
-    std::cout << "Position in the articular frame: "
+    std::cout << "  Joint position "
       << " pan: " << vpMath::deg(qm[0]) << " deg"
       << " tilt: " << vpMath::deg(qm[1]) << " deg" << std::endl;
     robot.getVelocity(vpRobot::JOINT_STATE, qm);
-    std::cout << "Velocity in the articular frame: "
+    std::cout << "  Joint velocity "
       << " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
 
     qdot = 0;
     qdot[0] = vpMath::rad(-5);
     // qdot[1] = vpMath::rad(-5);
 
-    std::cout << "Set articular frame velocity for 2 sec"
+    std::cout << "Set joint velocity for 2 sec"
       << " pan: " << vpMath::deg(qdot[0]) << " deg/s"
       << " tilt: " << vpMath::deg(qdot[1]) << " deg/s" << std::endl;
     robot.setVelocity(vpRobot::JOINT_STATE, qdot);
@@ -254,11 +254,11 @@ int main(int argc, const char **argv)
     vpTime::wait(2000.0);
 
     robot.getPosition(vpRobot::JOINT_STATE, qm);
-    std::cout << "Position in the articular frame: "
+    std::cout << "  Joint position "
       << " pan: " << vpMath::deg(qm[0]) << " deg"
       << " tilt: " << vpMath::deg(qm[1]) << " deg" << std::endl;
     robot.getVelocity(vpRobot::JOINT_STATE, qm);
-    std::cout << "Velocity in the articular frame: "
+    std::cout << "  Joint velocity "
       << " pan: " << vpMath::deg(qm[0]) << " tilt: " << vpMath::deg(qm[1]) << std::endl;
     return EXIT_SUCCESS;
   }