Remove Boost Dependency

[Woojin-Crive]

Overview

This pull request eliminates the dependency on the Boost library within the dynamixel_hardware_interface package. By replacing Boost functions with standard C++ equivalents, the codebase becomes more streamlined and reduces external dependencies.

Changes Made

1. Removed Boost Include: The inclusion of the Boost header has been removed from dynamixel_info.hpp:

   -#include <boost/algorithm/string.hpp>

2. Added Standard Headers: Included <cstdint> and <sstream> headers to support standard C++ functionalities:

   +#include <cstdint>
   +#include <sstream>

3. Implemented Custom String Split Function: Replaced the Boost string split function with a custom split_string function:

   // Helper function to split string by delimiter
   std::vector<std::string> split_string(const std::string & str, char delimiter)
   {
     std::vector<std::string> tokens;
     std::string token;
     std::istringstream token_stream(str);
     while (std::getline(token_stream, token, delimiter)) {
       if (!token.empty()) {  // Skip empty tokens
         tokens.push_back(token);
       }
     }
     return tokens;
   }

4. Updated Parsing Logic: Replaced instances of boost::split with the new split_string function:

   -std::vector<std::string> strs;
   -boost::split(strs, line, boost::is_any_of("\t"));
   +std::vector<std::string> strs = split_string(line, '\t');

   Additionally, added checks to ensure the parsed strings are not empty before processing:

   if (!strs.empty()) {
     // Processing logic
   }

Benefits

• Reduced External Dependencies: By removing Boost, the package now relies solely on standard C++ libraries, simplifying the build process and reducing potential compatibility issues.

• Enhanced Maintainability: Utilizing standard libraries makes the codebase more accessible to developers who may not be familiar with Boost.

Testing

All functionalities have been tested to ensure that the removal of Boost does not affect the existing behavior of the package. The custom split_string function has been validated to handle string splitting accurately, matching the previous behavior provided by Boost.

Conclusion

This pull request effectively removes the Boost dependency from the dynamixel_hardware_interface package by leveraging standard C++ libraries and custom utility functions. It enhances the package's maintainability and reduces external dependencies without compromising functionality.

[gemini-code-assist]

Hello @Woojin-Crive, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

Summary of Changes

This pull request removes the dependency on the Boost library in the dynamixel_hardware_interface package. It replaces the Boost string split function with a custom split_string function using standard C++ libraries. The changes involve removing the Boost include, adding standard headers like <cstdint> and <sstream>, implementing the custom string split function, and updating the parsing logic to use the new function. Additionally, checks are added to ensure parsed strings are not empty before processing.

Highlights

• Dependency Removal: Removes the Boost library dependency to reduce external dependencies and simplify the build process.
• String Splitting: Replaces boost::split with a custom split_string function using standard C++ streams.
• Code Modernization: Utilizes standard C++ features to enhance maintainability and accessibility for developers unfamiliar with Boost.

Changelog

• include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp
  • Removed the Boost algorithm string header include on line 29.
  • Added the cstdint header include on line 22.
• src/dynamixel/dynamixel_info.cpp
  • Added the sstream header include on line 21.
  • Implemented a custom split_string function to replace boost::split from lines 26-38.
  • Replaced boost::split with the custom split_string function on line 98.
  • Added a check to ensure the parsed strings are not empty before processing from lines 100-114.
  • Replaced boost::split with the custom split_string function on line 124.
  • Added a check to ensure the parsed strings are not empty before processing from lines 126-132.

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---

Boost's gone, C++ stands tall,
No external calls at all.
Streams now split,
Code's benefit,
A cleaner interface for all.

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[gemini-code-assist]

Code Review

This pull request aims to remove the Boost dependency from the dynamixel_hardware_interface package, which is a good step towards reducing external dependencies and improving maintainability. The changes involve replacing the Boost string split function with a custom implementation using standard C++ libraries. Overall, the changes seem well-structured and the custom split_string function appears to be a reasonable replacement. However, there are a few areas that could be improved for clarity and robustness.

Summary of Findings

• String Splitting Logic: The split_string function could be enhanced to handle multiple delimiters or leading/trailing delimiters more gracefully. Consider adding an option to trim whitespace from the tokens.
• Error Handling: While the code checks for empty strings after splitting, it does not explicitly handle potential errors during the string conversion (stoi, stod). Adding error handling for these conversions would improve the robustness of the code.
• Duplicated Code: The string splitting logic is duplicated in two different locations in the same file. Consider refactoring to avoid this duplication.

Merge Readiness

The pull request is a good step towards removing the Boost dependency. However, addressing the identified issues related to string splitting logic, error handling, and code duplication would significantly improve the robustness and maintainability of the code. I recommend addressing these issues before merging. I am unable to approve this pull request, and users should have others review and approve this code before merging.

[Woojin-Crive]

/gemini review

[gemini-code-assist]

Code Review

This pull request aims to remove the Boost dependency, which is a good step towards reducing external dependencies and improving maintainability. The changes seem well-structured, with a custom string splitting function replacing the Boost equivalent. However, there are a few areas that could be improved for robustness and clarity.

Summary of Findings

• Error Handling in String Conversion: The code includes try-catch blocks for std::stoi and std::stod, but the error messages are printed to stderr using fprintf. Consider using rclcpp::Logger for consistent logging within the ROS 2 environment. This would provide better integration with ROS 2's logging infrastructure.
• String Splitting Logic: The split_string function includes an optional trim parameter. It might be beneficial to handle empty tokens more explicitly or provide an option to include them, depending on the expected use cases. Consider adding a comment to explain the rationale behind skipping empty tokens.
• Code Duplication: The try-catch block is duplicated in two different sections of the code. Consider refactoring this into a separate function to reduce code duplication and improve maintainability.

Merge Readiness

The pull request is a good step towards removing the Boost dependency. However, the error handling and code duplication issues should be addressed before merging. I am unable to directly approve this pull request, and recommend that another reviewer approves this code before merging. I recommend that the identified issues are addressed before merging.

[yun-goon]

Looks good! This way, the codebase becomes more streamlined and reduces external dependencies!

[Woojin-Crive]

No need to merge this PR to main. I'm Closing this pr.