Merge branch 'main' into arjo/feat/reset_test_fixture

gazebosim · Dec 20, 2024 · 9096ed6 · 9096ed6
2 parents 9779707 + f05cda2
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diff --git a/Migration.md b/Migration.md
@@ -5,6 +5,37 @@ 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_PLUGIN_INSTALL_DIR` has been removed.
+     Please use `gz::sim::getPluginInstallDir()` 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**:

diff --git a/include/gz/sim/components/Factory.hh b/include/gz/sim/components/Factory.hh
@@ -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.
@@ -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.
@@ -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

diff --git a/include/gz/sim/config.hh.in b/include/gz/sim/config.hh.in
@@ -33,12 +33,6 @@
 
 #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"
-#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
diff --git a/python/src/gz/sim/Joint.cc b/python/src/gz/sim/Joint.cc
@@ -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"),

diff --git a/src/ComponentFactory_TEST.cc b/src/ComponentFactory_TEST.cc
@@ -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)
 {