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Remove deprecations: tock #476

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b129021
Remove deprecations: tock
caguero Dec 4, 2024
e13842d
Update Migration.md
caguero Dec 5, 2024
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32 changes: 32 additions & 0 deletions Migration.md
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,38 @@ 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 Msgs 11.X to 12.X

### Deprecations

1. **camerasensor.proto**
+ The `image_format` field is deprecated. Use `pixel_format` instead.

1. **gps.proto**
+ This message is deprecated. Use `NavSat` instead.

1. **gps_sensor.proto**
+ This message is deprecated. Use `NavSat` instead.

### Removals

1. **spherical_coordinates.proto**
+ The `LOCAL2` item has been removed from the
`msgs::SphericalCoordinatesType` enum.

1. **SphericalCoordinates.hh**
+ The function `inline msgs::SphericalCoordinatesType ConvertCoord(
const math::SphericalCoordinates::CoordinateType &_sc)`
does not accept `math::SphericalCoordinates::CoordinatesType::LOCAL2` anymore.
+ The function `inline math::SphericalCoordinates::CoordinateType Convert(
const msgs::SphericalCoordinatesType &_sc)`
does not accept `msgs::SphericalCoordinatesType::LOCAL2` anymore.

1. **MessageFactory.hh**
+ The function `MessageFactory::MessagePtr MessageFactory::New(
const std::string &_msgType)` does not accept non-fully qualified names
anymore.

## Gazebo Msgs 10.X to 11.X
### Deprecations

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17 changes: 2 additions & 15 deletions core/include/gz/msgs/convert/SphericalCoordinates.hh
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Expand Up @@ -34,9 +34,7 @@ inline namespace GZ_MSGS_VERSION_NAMESPACE {
inline msgs::SphericalCoordinatesType ConvertCoord(
const math::SphericalCoordinates::CoordinateType &_sc)
{
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
auto result = msgs::SphericalCoordinatesType::LOCAL2;
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
auto result = msgs::SphericalCoordinatesType::LOCAL;
switch (_sc)
{
case math::SphericalCoordinates::CoordinateType::ECEF:
Expand All @@ -51,11 +49,6 @@ inline msgs::SphericalCoordinatesType ConvertCoord(
case math::SphericalCoordinates::CoordinateType::LOCAL:
result = msgs::SphericalCoordinatesType::LOCAL;
break;
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
case math::SphericalCoordinates::CoordinateType::LOCAL2:
result = msgs::SphericalCoordinatesType::LOCAL2;
break;
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
default:
std::cerr << "Invalid coordinate type passed" << std::endl;
}
Expand All @@ -76,16 +69,10 @@ inline math::SphericalCoordinates::CoordinateType Convert(
return math::SphericalCoordinates::CoordinateType::SPHERICAL;
case msgs::SphericalCoordinatesType::LOCAL:
return math::SphericalCoordinates::CoordinateType::LOCAL;
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
case msgs::SphericalCoordinatesType::LOCAL2:
return math::SphericalCoordinates::CoordinateType::LOCAL2;
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
default:
std::cerr << "Invalid coordinate type passed" << std::endl;
}
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
return math::SphericalCoordinates::CoordinateType::LOCAL2;
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
return math::SphericalCoordinates::CoordinateType::LOCAL;
}

/////////////////////////////////
Expand Down
13 changes: 0 additions & 13 deletions core/src/MessageFactory.cc
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Expand Up @@ -92,19 +92,6 @@ MessageFactory::MessagePtr MessageFactory::New(
};

auto ret = getMessagePtr(type);

// Message was not found in either static or dynamic message types,
// try again adding the gz.msgs prefix
if (nullptr == ret)
{
ret = getMessagePtr(kGzMsgsPrefix + type);
if (nullptr != ret)
{
std::cerr << "Message (" << kGzMsgsPrefix + type
<< ") was retrieved with non-fully qualified name. "
<< "This behavior is deprecated in msgs12" << std::endl;
}
}
return ret;
}

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2 changes: 1 addition & 1 deletion proto/gz/msgs/camerasensor.proto
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Expand Up @@ -75,7 +75,7 @@ message CameraSensor
Vector2d image_size = 3;

/// \brief Image format. This field is deprecated, please use pixel_format.
string image_format = 4;
string image_format = 4 [deprecated = true];

/// \brief Near clip distance in meters.
double near_clip = 5;
Expand Down
4 changes: 4 additions & 0 deletions proto/gz/msgs/gps.proto
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Expand Up @@ -24,11 +24,15 @@ option java_outer_classname = "GPSProtos";
/// \interface GPS
/// \brief Data from a GPS sensor
/// This message will be deprecated, use NavSat instead.
/// Remove this message in gz-msgs13.

import "gz/msgs/header.proto";

message GPS
{
/// \brief Deprecated message.
option deprecated = true;

/// \brief Optional header data
Header header = 1;

Expand Down
4 changes: 4 additions & 0 deletions proto/gz/msgs/gps_sensor.proto
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Expand Up @@ -24,12 +24,16 @@ option java_outer_classname = "Protos";
/// \interface GPSSensor
/// \brief Information about a GPS sensor element
/// This message will be deprecated in favor of NavSat sensor.
/// Remove this message in gz-msgs13.

import "gz/msgs/sensor_noise.proto";
import "gz/msgs/header.proto";

message GPSSensor
{
/// \brief Deprecated message.
option deprecated = true;

/// \brief Sensing information
message Sensing
{
Expand Down
3 changes: 0 additions & 3 deletions proto/gz/msgs/spherical_coordinates.proto
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Expand Up @@ -40,9 +40,6 @@ enum SphericalCoordinatesType

/// \brief Heading-adjusted tangent plane (X, Y, Z)
LOCAL = 3;

/// \brief Heading-adjusted tangent plane (X, Y, Z)
LOCAL2 = 4 [deprecated=true];
}

message SphericalCoordinates
Expand Down
2 changes: 1 addition & 1 deletion test/integration/Factory_TEST.cc
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Expand Up @@ -100,7 +100,7 @@ TEST(FactoryTest, NewWithMalformedData)
TEST(FactoryTest, DeprecatedNonFullyQualified)
{
auto msg = Factory::New("StringMsg");
EXPECT_TRUE(msg.get() != nullptr);
EXPECT_TRUE(msg.get() == nullptr);
}

/////////////////////////////////////////////////
Expand Down
21 changes: 2 additions & 19 deletions test/integration/Utility_TEST.cc
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Expand Up @@ -354,10 +354,6 @@ TEST(MsgsTest, ConvertMathSphericalCoordinatesToMsgs)
msgs::ConvertCoord(math::SphericalCoordinates::CoordinateType::SPHERICAL));
EXPECT_EQ(msgs::SphericalCoordinatesType::LOCAL,
msgs::ConvertCoord(math::SphericalCoordinates::CoordinateType::LOCAL));
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
EXPECT_EQ(msgs::SphericalCoordinatesType::LOCAL2,
msgs::ConvertCoord(math::SphericalCoordinates::CoordinateType::LOCAL2));
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION

EXPECT_EQ(math::SphericalCoordinates::CoordinateType::ECEF,
msgs::Convert(msgs::SphericalCoordinatesType::ECEF));
Expand All @@ -367,10 +363,6 @@ TEST(MsgsTest, ConvertMathSphericalCoordinatesToMsgs)
msgs::Convert(msgs::SphericalCoordinatesType::SPHERICAL));
EXPECT_EQ(math::SphericalCoordinates::CoordinateType::LOCAL,
msgs::Convert(msgs::SphericalCoordinatesType::LOCAL));
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
EXPECT_EQ(math::SphericalCoordinates::CoordinateType::LOCAL2,
msgs::Convert(msgs::SphericalCoordinatesType::LOCAL2));
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION


auto msg = msgs::Convert(
Expand Down Expand Up @@ -457,12 +449,8 @@ TEST(MsgsTest, ConvertMsgsSphericalCoordinatesTypeToMath)
math::SphericalCoordinates::CoordinateType::SPHERICAL);
EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::LOCAL),
math::SphericalCoordinates::CoordinateType::LOCAL);
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
EXPECT_EQ(Convert(msgs::SphericalCoordinatesType::LOCAL2),
math::SphericalCoordinates::CoordinateType::LOCAL2);
EXPECT_EQ(Convert((msgs::SphericalCoordinatesType)500000),
math::SphericalCoordinates::CoordinateType::LOCAL2);
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
math::SphericalCoordinates::CoordinateType::LOCAL);
}

/////////////////////////////////////////////////
Expand All @@ -480,14 +468,9 @@ TEST(MsgsTest, ConvertMathSphericalCoordinatedTypeToMsg)
EXPECT_EQ(msgs::ConvertCoord(
math::SphericalCoordinates::CoordinateType::LOCAL),
msgs::SphericalCoordinatesType::LOCAL);
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
EXPECT_EQ(msgs::ConvertCoord(
math::SphericalCoordinates::CoordinateType::LOCAL2),
msgs::SphericalCoordinatesType::LOCAL2);
EXPECT_EQ(msgs::ConvertCoord(
(math::SphericalCoordinates::CoordinateType)500000),
msgs::SphericalCoordinatesType::LOCAL2);
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
msgs::SphericalCoordinatesType::LOCAL);
}

/////////////////////////////////////////////////
Expand Down
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