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Remove deprecations: tock #2703

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Dec 19, 2024
Merged

Remove deprecations: tock #2703

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2928f36
Remove deprecations: tock
caguero Dec 15, 2024
18596a2
Tweak
caguero Dec 15, 2024
952f598
Remove GZ_SIM_PLUGIN_INSTALL_DIR macro
caguero Dec 19, 2024
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28 changes: 28 additions & 0 deletions Migration.md
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,34 @@ Deprecated code produces compile-time warnings. These warning serve as
notification to users that their code should be upgraded. The next major
release will remove the deprecated code.

## Gazebo Sim 9.x to 10.0

### Removals

- **config.hh**:
+ The macro `GZ_SIM_GUI_CONFIG_PATH` has been removed.
Please use `gz::sim::getGUIConfigPath()` instead.

+ The macro `GZ_SIM_SYSTEM_CONFIG_PATH` has been removed.
Please use `gz::sim::getSystemConfigPath()` instead.

+ The macro `GZ_SIM_SERVER_CONFIG_PATH` has been removed.
Please use `gz::sim::getServerConfigPath()` instead.

+ The macro `GZ_SIM_GUI_PLUGIN_INSTALL_DIR` has been removed.
Please use `gz::sim::getGUIPluginInstallDir()` instead.

+ The macro `GZ_SIM_WORLD_INSTALL_DIR` has been removed.
Please use `gz::sim::getWorldInstallDir()` instead.

**components/Factory.hh**:
+ `gz::sim::components::Factory::Register(const std::string &_type, ComponentDescriptorBase *_compDesc)` and
`gz::sim::components::Factory::Register(const std::string &_type, ComponentDescriptorBase *_compDesc, RegistrationObjectId _regObjId)`
have been removed. Instead, please use
`gz::sim::components::Factory::Register(const char *_type, ComponentDescriptorBase *_compDesc, RegistrationObjectId _regObjId)`
+ `gz::sim::components::Factory::Unregister()` has been removed. Instead, please use
`gz::sim::components::Factory::Unregister(RegistrationObjectId _regObjId)`.

## Gazebo Sim 8.x to 9.0

* **Modified**:
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55 changes: 0 additions & 55 deletions include/gz/sim/components/Factory.hh
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Expand Up @@ -205,39 +205,6 @@ namespace components
/// \brief Get an instance of the singleton
public: GZ_SIM_VISIBLE static Factory *Instance();

/// \brief Register a component so that the factory can create instances
/// of the component based on an ID.
/// \param[in] _type Type of component to register.
/// \param[in] _compDesc Object to manage the creation of ComponentTypeT
/// objects.
/// \tparam ComponentTypeT Type of component to register.
// Deprecated in favor of overload that takes _regObjId
public: template <typename ComponentTypeT>
void GZ_DEPRECATED(8) Register(const std::string &_type,
ComponentDescriptorBase *_compDesc)
{
const char* typeDup = strdup(_type.c_str());
this->Register<ComponentTypeT>(typeDup, _compDesc,
RegistrationObjectId{nullptr});
}
/// \brief Register a component so that the factory can create instances
/// of the component based on an ID.
/// \param[in] _type Type of component to register.
/// \param[in] _compDesc Object to manage the creation of ComponentTypeT
/// objects.
/// \param[in] _regObjId An ID that identifies the registration object. This
/// is generally derived from the `this` pointer of the static component
/// registration object created when calling GZ_SIM_REGISTER_COMPONENT.
/// \tparam ComponentTypeT Type of component to register.
// Deprecated in favor of overload that takes `const char *_type`
public: template <typename ComponentTypeT>
void GZ_DEPRECATED(8) Register(const std::string &_type,
ComponentDescriptorBase *_compDesc, RegistrationObjectId _regObjId)
{
const char* typeDup = strdup(_type.c_str());
this->Register<ComponentTypeT>(typeDup, _compDesc, _regObjId);
}

/// \brief Register a component so that the factory can create instances
/// of the component based on an ID.
/// \param[in] _type Type of component to register.
Expand Down Expand Up @@ -295,16 +262,6 @@ namespace components
runtimeNamesById[ComponentTypeT::typeId] = runtimeName;
}

/// \brief Unregister a component so that the factory can't create instances
/// of the component anymore.
/// \tparam ComponentTypeT Type of component to unregister.
// Deprecated in favor of overload that takes _regObjId
public: template <typename ComponentTypeT>
void GZ_DEPRECATED(8) Unregister()
{
this->Unregister<ComponentTypeT>(RegistrationObjectId{nullptr});
}

/// \brief Unregister a component so that the factory can't create instances
/// of the component anymore.
/// \tparam ComponentTypeT Type of component to unregister.
Expand All @@ -317,18 +274,6 @@ namespace components
this->Unregister(ComponentTypeT::typeId, _regObjId);
}

/// \brief Unregister a component so that the factory can't create instances
/// of the component anymore.
/// \details This function will not reset the `typeId` static variable
/// within the component type itself. Prefer using the templated
/// `Unregister` function when possible.
/// \param[in] _typeId Type of component to unregister.
// Deprecated in favor of overload that takes _regObjId
public: void GZ_DEPRECATED(8) Unregister(ComponentTypeId _typeId)
{
this->Unregister(_typeId, RegistrationObjectId{nullptr});
}

/// \brief Unregister a component so that the factory can't create instances
/// of the component anymore.
/// \details This function will not reset the `typeId` static variable
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5 changes: 0 additions & 5 deletions include/gz/sim/config.hh.in
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Expand Up @@ -33,12 +33,7 @@

#define GZ_SIM_VERSION_HEADER "Gazebo Sim, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2018 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"

#define GZ_SIM_GUI_CONFIG_PATH _Pragma ("GCC warning \"'GZ_SIM_GUI_CONFIG_PATH' macro is deprecated, use gz::sim::getGUIConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/gui"
#define GZ_SIM_SYSTEM_CONFIG_PATH _Pragma ("GCC warning \"'GZ_SIM_SYSTEM_CONFIG_PATH' macro is deprecated, use gz::sim::getSystemConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/systems"
#define GZ_SIM_SERVER_CONFIG_PATH _Pragma ("GCC warning \"'GZ_SIM_SERVER_CONFIG_PATH' macro is deprecated, use gz::sim::getServerConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}"
#define GZ_SIM_PLUGIN_INSTALL_DIR _Pragma ("GCC warning \"'GZ_SIM_PLUGIN_INSTALL_DIR' macro is deprecated, use gz::sim::getPluginInstallDir() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
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remove this C++ macro as well?

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Thanks, removed in 952f598

#define GZ_SIM_GUI_PLUGIN_INSTALL_DIR _Pragma ("GCC warning \"'GZ_SIM_GUI_PLUGIN_INSTALL_DIR' macro is deprecated, use gz::sim::getGUIPluginInstallDir() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
#define GZ_SIM_WORLD_INSTALL_DIR _Pragma ("GCC warning \"'GZ_SIM_WORLD_INSTALL_DIR' macro is deprecated, use gz::sim::getWorldInstallDir() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/worlds"
#define GZ_DISTRIBUTION "${GZ_DISTRIBUTION}"

#endif
15 changes: 0 additions & 15 deletions python/src/gz/sim/Joint.cc
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Expand Up @@ -94,21 +94,6 @@ void defineSimJoint(py::object module)
py::arg("ecm"),
py::arg("limits"),
"Set the effort limits on a joint axis.")
.def("set_position_imits",
[](pybind11::object &self, EntityComponentManager &_ecm,
const std::vector<math::Vector2d> &_limits)
{
auto warnings = pybind11::module::import("warnings");
auto builtins = pybind11::module::import("builtins");
warnings.attr("warn")(
"set_position_imits() is deprecated, use set_position_limits() instead.",
builtins.attr("DeprecationWarning"));

return self.attr("set_position_limits")(_ecm, _limits);
},
py::arg("ecm"),
py::arg("limits"),
"Set the position limits on a joint axis.")
.def("set_position_limits", &gz::sim::Joint::SetPositionLimits,
py::arg("ecm"),
py::arg("limits"),
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63 changes: 0 additions & 63 deletions src/ComponentFactory_TEST.cc
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Expand Up @@ -94,69 +94,6 @@ TEST_F(ComponentFactoryTest, Register)
EXPECT_EQ(registeredCount + 1, ids.size());
}

/////////////////////////////////////////////////
TEST_F(ComponentFactoryTest, DeprecatedRegister)
{
auto factory = components::Factory::Instance();

// Create a custom component.
using MyDeprecatedCustom =
components::Component<components::NoData, class MyDeprecatedCustomTag>;

// Check it has no type id yet
EXPECT_EQ(0u, MyDeprecatedCustom::typeId);
EXPECT_EQ(nullptr, MyDeprecatedCustom::typeName);
EXPECT_EQ("", factory->Name(MyDeprecatedCustom::typeId));

// Store number of registered component types
auto registeredCount = factory->TypeIds().size();

GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
factory->Register<MyDeprecatedCustom>("gz_sim_components.MyDeprecatedCustom",
new components::ComponentDescriptor<MyDeprecatedCustom>());
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION

// Check now it has type id
EXPECT_NE(0u, MyDeprecatedCustom::typeId);
EXPECT_STREQ("gz_sim_components.MyDeprecatedCustom",
MyDeprecatedCustom::typeName);
EXPECT_EQ("gz_sim_components.MyDeprecatedCustom",
factory->Name(MyDeprecatedCustom::typeId));

// Check factory knows id
auto ids = factory->TypeIds();
EXPECT_EQ(registeredCount + 1, ids.size());
EXPECT_NE(ids.end(),
std::find(ids.begin(), ids.end(), MyDeprecatedCustom::typeId));

// Registering the component twice doesn't change the number of type ids.
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
factory->Register<MyDeprecatedCustom>("gz_sim_components.MyDeprecatedCustom",
new components::ComponentDescriptor<MyDeprecatedCustom>());
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION

EXPECT_EQ(registeredCount + 1, factory->TypeIds().size());

// Fail to register 2 components with same name
using Duplicate = components::Component<components::NoData,
class DuplicateTag>;

GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
factory->Register<Duplicate>("gz_sim_components.MyDeprecatedCustom",
new components::ComponentDescriptor<Duplicate>());
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION

EXPECT_EQ(registeredCount + 1, factory->TypeIds().size());

// Unregister
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
factory->Unregister<MyDeprecatedCustom>();
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION

ids = factory->TypeIds();
EXPECT_EQ(registeredCount + 1, ids.size());
}

/////////////////////////////////////////////////
TEST_F(ComponentFactoryTest, New)
{
Expand Down
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