Remove deprecations: tock (#476)

* Remove deprecations: tock Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Martin Pecka <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
gazebosim · Dec 19, 2024 · 893be5b · 893be5b
1 parent af39e88
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diff --git a/Migration.md b/Migration.md
@@ -5,6 +5,41 @@ 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 `NavSatSensor` instead.
+
+1. **sensor.proto**
+    + The `gps` field 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
 

diff --git a/core/include/gz/msgs/convert/SphericalCoordinates.hh b/core/include/gz/msgs/convert/SphericalCoordinates.hh
@@ -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:
@@ -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;
   }
@@ -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;
 }
 
 /////////////////////////////////

diff --git a/core/src/MessageFactory.cc b/core/src/MessageFactory.cc
@@ -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;
 }
 

diff --git a/proto/gz/msgs/camerasensor.proto b/proto/gz/msgs/camerasensor.proto
@@ -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;

diff --git a/proto/gz/msgs/gps.proto b/proto/gz/msgs/gps.proto
@@ -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;
 

diff --git a/proto/gz/msgs/gps_sensor.proto b/proto/gz/msgs/gps_sensor.proto
@@ -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
   {

diff --git a/proto/gz/msgs/sensor.proto b/proto/gz/msgs/sensor.proto
@@ -35,6 +35,7 @@ import "gz/msgs/imu_sensor.proto";
 import "gz/msgs/lidar_sensor.proto";
 import "gz/msgs/logical_camera_sensor.proto";
 import "gz/msgs/magnetometer_sensor.proto";
+import "gz/msgs/navsat.proto";
 import "gz/msgs/pose.proto";
 
 message Sensor
@@ -86,7 +87,7 @@ message Sensor
 
   /// \brief Description of a gps sensor
   /// TODO(chapulina) Migrate to NavSat
-  GPSSensor gps          = 15;
+  GPSSensor gps          = 15 [deprecated = true];
 
   /// \brief Description of an IMU sensor
   IMUSensor imu          = 16;
@@ -105,4 +106,7 @@ message Sensor
 
   /// \brief Description of a airspeed sensor
   AirSpeedSensor air_speed             = 21;
+
+  /// \brief Description of a GNSS sensor
+  NavSat navsat          = 22;
 }
diff --git a/proto/gz/msgs/spherical_coordinates.proto b/proto/gz/msgs/spherical_coordinates.proto
@@ -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

diff --git a/test/integration/Factory_TEST.cc b/test/integration/Factory_TEST.cc
@@ -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);
 }
 
 /////////////////////////////////////////////////

diff --git a/test/integration/Utility_TEST.cc b/test/integration/Utility_TEST.cc
@@ -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));
@@ -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(
@@ -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);
 }
 
 /////////////////////////////////////////////////
@@ -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);
 }
 
 /////////////////////////////////////////////////