From b30ed13005098011836f8194f6a1a0221bf82240 Mon Sep 17 00:00:00 2001
From: Tully Foote <tfoote@osrfoundation.org>
Date: Fri, 17 Apr 2020 11:07:29 -0700
Subject: [PATCH] Deprecate PointCloud message and APIs using it (#107)

* Deprecate PointCloud message and APIs using it

Signed-off-by: Tully Foote <tfoote@osrfoundation.org>
---
 .../sensor_msgs/point_cloud_conversion.hpp    | 12 +++++++
 sensor_msgs/msg/PointCloud.msg                |  3 ++
 .../test/test_pointcloud_conversion.cpp       | 35 +++++++++++++++++++
 3 files changed, 50 insertions(+)

diff --git a/sensor_msgs/include/sensor_msgs/point_cloud_conversion.hpp b/sensor_msgs/include/sensor_msgs/point_cloud_conversion.hpp
index 6a08fa8a..628e040b 100644
--- a/sensor_msgs/include/sensor_msgs/point_cloud_conversion.hpp
+++ b/sensor_msgs/include/sensor_msgs/point_cloud_conversion.hpp
@@ -42,6 +42,16 @@
 
 #include <string>
 
+#ifndef SENSOR_MSGS_SKIP_WARNING
+#  define POINT_CLOUD_DEPRECATION_MESSAGE \
+  "PointCloud is deprecated in Foxy for PointCloud2. This whole header will be removed."
+#  ifdef _MSC_VER
+#    pragma message(POINT_CLOUD_DEPRECATION_MESSAGE)
+#  else
+#    warning POINT_CLOUD_DEPRECATION_MESSAGE
+#  endif
+#endif
+
 /**
   * \brief Convert between the old (sensor_msgs::msg::PointCloud) and the new (sensor_msgs::msg::PointCloud2) format.
   * \author Radu Bogdan Rusu
@@ -71,6 +81,7 @@ static inline int getPointCloud2FieldIndex(
   * \param input the message in the sensor_msgs::msg::PointCloud format
   * \param output the resultant message in the sensor_msgs::msg::PointCloud2 format
   */
+[[deprecated("PointCloud is deprecated as of Foxy in favor of sensor_msgs/PointCloud2.")]]
 static inline bool convertPointCloudToPointCloud2(
   const sensor_msgs::msg::PointCloud & input,
   sensor_msgs::msg::PointCloud2 & output)
@@ -125,6 +136,7 @@ static inline bool convertPointCloudToPointCloud2(
   * \param input the message in the sensor_msgs::msg::PointCloud2 format
   * \param output the resultant message in the sensor_msgs::msg::PointCloud format
   */
+[[deprecated("PointCloud is deprecated as of Foxy if favor of sensor_msgs/PointCloud2.")]]
 static inline bool convertPointCloud2ToPointCloud(
   const sensor_msgs::msg::PointCloud2 & input,
   sensor_msgs::msg::PointCloud & output)
diff --git a/sensor_msgs/msg/PointCloud.msg b/sensor_msgs/msg/PointCloud.msg
index 969cdd97..a07d4504 100644
--- a/sensor_msgs/msg/PointCloud.msg
+++ b/sensor_msgs/msg/PointCloud.msg
@@ -1,3 +1,6 @@
+## THIS MESSAGE IS DEPRECATED AS OF FOXY
+## Please use sensor_msgs/PointCloud2
+
 # This message holds a collection of 3d points, plus optional additional
 # information about each point.
 
diff --git a/sensor_msgs/test/test_pointcloud_conversion.cpp b/sensor_msgs/test/test_pointcloud_conversion.cpp
index 5745d4c1..58b97c7f 100644
--- a/sensor_msgs/test/test_pointcloud_conversion.cpp
+++ b/sensor_msgs/test/test_pointcloud_conversion.cpp
@@ -18,7 +18,17 @@
 #include "sensor_msgs/msg/point_cloud.hpp"
 #include "sensor_msgs/msg/point_cloud2.hpp"
 
+#define SENSOR_MSGS_SKIP_WARNING
+
+// #warning suppression
+// Not working due to preprocessor ignoring pragmas in g++
+// https://gcc.gnu.org/bugzilla/show_bug.cgi?id=53431
+// Clang doesn't support suppressing -Wcpp probably like above.
+// And I can't find any windows way to suppress it either.
+
 #include "sensor_msgs/point_cloud_conversion.hpp"
+#undef SENSOR_MSGS_SKIP_WARNING
+
 #include "sensor_msgs/point_field_conversion.hpp"
 
 TEST(sensor_msgs, PointCloudConversion)
@@ -49,7 +59,20 @@ TEST(sensor_msgs, PointCloudConversion)
 
   // Convert to PointCloud2
   sensor_msgs::msg::PointCloud2 cloud2;
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
   auto ret_cc2 = sensor_msgs::convertPointCloudToPointCloud2(cloud, cloud2);
+#ifdef _MSC_VER
+#pragma warning(pop)
+#else
+#pragma GCC diagnostic pop
+#endif
   ASSERT_TRUE(ret_cc2);
 
   EXPECT_EQ(1u, cloud2.height);
@@ -68,7 +91,19 @@ TEST(sensor_msgs, PointCloudConversion)
 
   // Convert back to PointCloud
   sensor_msgs::msg::PointCloud cloud3;
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
   auto ret_c2c = sensor_msgs::convertPointCloud2ToPointCloud(cloud2, cloud3);
+#ifdef _MSC_VER
+#pragma warning(pop)
+#else
+#pragma GCC diagnostic pop
+#endif
   ASSERT_TRUE(ret_c2c);
   EXPECT_EQ(cloud3.points.size(), 100u);
   EXPECT_EQ(cloud3.channels.size(), 2u);