From 9f2375ad93e7b695709420fd550d7bed874b96eb Mon Sep 17 00:00:00 2001
From: Mike Purvis <mpurvis@clearpathrobotics.com>
Date: Mon, 2 Mar 2020 16:37:13 -0500
Subject: [PATCH] Port rosserial_server to Boost 1.71.

---
 .../include/rosserial_server/async_read_buffer.h  |  4 ++++
 .../include/rosserial_server/udp_stream.h         | 15 +++++++++------
 2 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/rosserial_server/include/rosserial_server/async_read_buffer.h b/rosserial_server/include/rosserial_server/async_read_buffer.h
index 1e30d978c..e53f23e86 100644
--- a/rosserial_server/include/rosserial_server/async_read_buffer.h
+++ b/rosserial_server/include/rosserial_server/async_read_buffer.h
@@ -166,7 +166,11 @@ class AsyncReadBuffer
 
     // Post the callback rather than executing it here so, so that we have a chance to do the cleanup
     // below prior to it actually getting run, in the event that the callback queues up another read.
+#if BOOST_VERSION >= 107000
+    boost::asio::post(stream_.get_executor(), boost::bind(read_success_callback_, stream));
+#else
     stream_.get_io_service().post(boost::bind(read_success_callback_, stream));
+#endif
 
     // Resetting these values clears our state so that we know there isn't a callback pending.
     read_requested_bytes_ = 0;
diff --git a/rosserial_server/include/rosserial_server/udp_stream.h b/rosserial_server/include/rosserial_server/udp_stream.h
index 8e4bb0b7e..30034cbfc 100644
--- a/rosserial_server/include/rosserial_server/udp_stream.h
+++ b/rosserial_server/include/rosserial_server/udp_stream.h
@@ -48,7 +48,9 @@ namespace rosserial_server
 {
 
 using boost::asio::ip::udp;
+#if BOOST_VERSION < 107000
 using boost::asio::handler_type;
+#endif
 
 
 class UdpStream : public udp::socket
@@ -62,9 +64,11 @@ class UdpStream : public udp::socket
   {
     boost::system::error_code ec;
     const protocol_type protocol = server_endpoint.protocol();
-    this->get_service().open(this->get_implementation(), protocol, ec);
+
+    udp::socket::open(protocol, ec);
     boost::asio::detail::throw_error(ec, "open");
-    this->get_service().bind(this->get_implementation(), server_endpoint, ec);
+
+    udp::socket::bind(server_endpoint, ec);
     boost::asio::detail::throw_error(ec, "bind");
 
     client_endpoint_ = client_endpoint;
@@ -84,9 +88,8 @@ class UdpStream : public udp::socket
     boost::asio::async_completion<WriteHandler,
       void (boost::system::error_code, std::size_t)> init(handler);
 
-    this->get_service().async_send_to(
-        this->get_implementation(), buffers, client_endpoint_, 0,
-        init.completion_handler);
+    udp::socket::async_send_to(
+        buffers, client_endpoint_, 0, init.completion_handler);
 
     return init.result.get();
 #else
@@ -110,7 +113,7 @@ class UdpStream : public udp::socket
     boost::asio::async_completion<ReadHandler,
       void (boost::system::error_code, std::size_t)> init(handler);
 
-    this->get_service().async_receive(this->get_implementation(),
+    udp::socket::async_receive(
         buffers, 0, init.completion_handler);
 
     return init.result.get();