Fix deprecation warnings (#572)

Signed-off-by: Louise Poubel <[email protected]>

CMakeLists.txt

@@ -59,7 +59,7 @@ set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
 #--------------------------------------
 # Find ignition-common
 # Always use the profiler component to get the headers, regardless of status.
-ign_find_package(ignition-common3 VERSION 3.5
+ign_find_package(ignition-common3 VERSION 3.6
   COMPONENTS
     profiler
     events

include/ignition/gazebo/detail/EntityComponentManager.hh

@@ -32,6 +32,8 @@ namespace ignition
 {
 namespace gazebo
 {
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 //////////////////////////////////////////////////
 namespace traits
 {
@@ -547,5 +549,6 @@ bool EntityComponentManager::RemoveComponent(Entity _entity)
 }
 }
 }
+}
 
 #endif

src/gui/plugins/scene3d/Scene3D.cc

@@ -702,15 +702,15 @@ bool IgnRenderer::GeneratePreview(const sdf::Root &_sdf)
   // Terminate any pre-existing spawned entities
   this->TerminateSpawnPreview();
 
-  if (!_sdf.ModelCount())
+  if (nullptr == _sdf.Model())
   {
     ignwarn << "Only model entities can be spawned at the moment." << std::endl;
     this->TerminateSpawnPreview();
     return false;
   }
 
   // Only preview first model
-  sdf::Model model = *(_sdf.ModelByIndex(0));
+  sdf::Model model = *(_sdf.Model());
   this->dataPtr->spawnPreviewPose = model.RawPose();
   model.SetName(ignition::common::Uuid().String());
   Entity modelId = this->UniqueId();

src/network/NetworkManagerPrimary.cc

@@ -265,9 +265,9 @@ void NetworkManagerPrimary::PopulateAffinities(
   {
     auto secondaryIt = this->secondaries.begin();
 
-    for (const auto &[level, performers] : lToPNew)
+    for (const auto &it : lToPNew)
     {
-      for (const auto &performer : performers)
+      for (const auto &performer : it.second)
       {
         this->SetAffinity(performer, secondaryIt->second->prefix,
             _msg.add_affinity());

src/systems/breadcrumbs/Breadcrumbs.cc

@@ -108,7 +108,7 @@ void Breadcrumbs::Configure(const Entity &_entity,
     }
     return;
   }
-  if (this->modelRoot.ModelCount() == 0)
+  if (nullptr == this->modelRoot.Model())
   {
     ignerr << "Model not found in <breadcrumb>" << std::endl;
     return;
@@ -133,7 +133,7 @@ void Breadcrumbs::Configure(const Entity &_entity,
 
   // Subscribe to commands
   std::string topic{"/model/" + this->model.Name(_ecm) + "/breadcrumbs/" +
-                    this->modelRoot.ModelByIndex(0)->Name() + "/deploy"};
+                    this->modelRoot.Model()->Name() + "/deploy"};
 
   if (_sdf->HasElement("topic"))
     topic = _sdf->Get<std::string>("topic");
@@ -183,7 +183,7 @@ void Breadcrumbs::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
       if (this->maxDeployments < 0 ||
           this->numDeployments < this->maxDeployments)
       {
-        sdf::Model modelToSpawn = *this->modelRoot.ModelByIndex(0);
+        sdf::Model modelToSpawn = *this->modelRoot.Model();
         std::string desiredName =
             modelToSpawn.Name() + "_" + std::to_string(this->numDeployments);
 
@@ -257,7 +257,7 @@ void Breadcrumbs::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
       }
       else
       {
-        ignmsg << "Asked to deploy " << this->modelRoot.ModelByIndex(0)->Name()
+        ignmsg << "Asked to deploy " << this->modelRoot.Model()->Name()
                << " but the maximum number of deployments has reached the "
                << "limit of " << this->maxDeployments << std::endl;
       }

src/systems/log/LogRecord.cc

@@ -538,44 +538,41 @@ bool LogRecordPrivate::SaveModels(const std::set<std::string> &_models)
 
       // Look for URIs in SDF and convert them to paths relative to the model
       // directory
-      for (uint64_t mi = 0; mi < root.ModelCount(); mi++)
+      const sdf::Model *model = root.Model();
+      for (uint64_t li = 0; li < model->LinkCount(); li++)
       {
-        const sdf::Model *model = root.ModelByIndex(mi);
-        for (uint64_t li = 0; li < model->LinkCount(); li++)
+        const sdf::Link *link = model->LinkByIndex(li);
+        for (uint64_t ci = 0; ci < link->CollisionCount(); ci++)
         {
-          const sdf::Link *link = model->LinkByIndex(li);
-          for (uint64_t ci = 0; ci < link->CollisionCount(); ci++)
+          const sdf::Collision *collision = link->CollisionByIndex(ci);
+          const sdf::Geometry *geometry = collision->Geom();
+          const sdf::Mesh *mesh = geometry->MeshShape();
+          if (mesh != nullptr)
           {
-            const sdf::Collision *collision = link->CollisionByIndex(ci);
-            const sdf::Geometry *geometry = collision->Geom();
-            const sdf::Mesh *mesh = geometry->MeshShape();
-            if (mesh != nullptr)
+            // Replace path with relative path
+            std::string relPath = convertToRelativePath(mesh->Uri(), srcPath);
+            sdf::ElementPtr meshElem = mesh->Element();
+            if (meshElem->HasElement("uri"))
             {
-              // Replace path with relative path
-              std::string relPath = convertToRelativePath(mesh->Uri(), srcPath);
-              sdf::ElementPtr meshElem = mesh->Element();
-              if (meshElem->HasElement("uri"))
-              {
-                sdf::ElementPtr uriElem = meshElem->GetElement("uri");
-                uriElem->Set(relPath);
-              }
+              sdf::ElementPtr uriElem = meshElem->GetElement("uri");
+              uriElem->Set(relPath);
             }
           }
-          for (uint64_t vi = 0; vi < link->VisualCount(); vi++)
+        }
+        for (uint64_t vi = 0; vi < link->VisualCount(); vi++)
+        {
+          const sdf::Visual *visual = link->VisualByIndex(vi);
+          const sdf::Geometry *geometry = visual->Geom();
+          const sdf::Mesh *mesh = geometry->MeshShape();
+          if (mesh != nullptr)
           {
-            const sdf::Visual *visual = link->VisualByIndex(vi);
-            const sdf::Geometry *geometry = visual->Geom();
-            const sdf::Mesh *mesh = geometry->MeshShape();
-            if (mesh != nullptr)
+            // Replace path with relative path
+            std::string relPath = convertToRelativePath(mesh->Uri(), srcPath);
+            sdf::ElementPtr meshElem = mesh->Element();
+            if (meshElem->HasElement("uri"))
             {
-              // Replace path with relative path
-              std::string relPath = convertToRelativePath(mesh->Uri(), srcPath);
-              sdf::ElementPtr meshElem = mesh->Element();
-              if (meshElem->HasElement("uri"))
-              {
-                sdf::ElementPtr uriElem = meshElem->GetElement("uri");
-                uriElem->Set(relPath);
-              }
+              sdf::ElementPtr uriElem = meshElem->GetElement("uri");
+              uriElem->Set(relPath);
             }
           }
         }

src/systems/user_commands/UserCommands.cc

@@ -441,15 +441,15 @@ bool CreateCommand::Execute()
   bool isModel{false};
   bool isLight{false};
   bool isActor{false};
-  if (root.ModelCount() > 0)
+  if (nullptr != root.Model())
   {
     isModel = true;
   }
-  else if (root.LightCount() > 0)
+  else if (nullptr != root.Light())
   {
     isLight = true;
   }
-  else if (root.ActorCount() > 0)
+  else if (nullptr != root.Actor())
   {
     isActor = true;
   }
@@ -460,7 +460,7 @@ bool CreateCommand::Execute()
     return false;
   }
 
-  if ((root.ModelCount() + root.LightCount() + root.ActorCount()) > 1)
+  if ((isModel && isLight) || (isModel && isActor) || (isLight && isActor))
   {
     ignwarn << "Expected exactly one top-level <model>, <light> or <actor>, "
             << "but found more. Only the 1st will be spawned." << std::endl;
@@ -474,15 +474,15 @@ bool CreateCommand::Execute()
   }
   else if (isModel)
   {
-    desiredName = root.ModelByIndex(0)->Name();
+    desiredName = root.Model()->Name();
   }
   else if (isLight)
   {
-    desiredName = root.LightByIndex(0)->Name();
+    desiredName = root.Light()->Name();
   }
   else if (isActor)
   {
-    desiredName = root.ActorByIndex(0)->Name();
+    desiredName = root.Actor()->Name();
   }
 
   // Check if there's already a top-level entity with the given name
@@ -514,19 +514,19 @@ bool CreateCommand::Execute()
   Entity entity{kNullEntity};
   if (isModel)
   {
-    auto model = *root.ModelByIndex(0);
+    auto model = *root.Model();
     model.SetName(desiredName);
     entity = this->iface->creator->CreateEntities(&model);
   }
   else if (isLight)
   {
-    auto light = root.LightByIndex(0);
+    auto light = root.Light();
     light->SetName(desiredName);
     entity = this->iface->creator->CreateEntities(light);
   }
   else if (isActor)
   {
-    auto actor = *root.ActorByIndex(0);
+    auto actor = *root.Actor();
     actor.SetName(desiredName);
     entity = this->iface->creator->CreateEntities(&actor);
   }

test/integration/sdf_frame_semantics.cc

@@ -87,9 +87,9 @@ class SdfFrameSemanticsTest : public ::testing::Test
     sdf::Root root;
     sdf::Errors errors = root.LoadSdfString(_sdfString);
     EXPECT_TRUE(errors.empty());
-    ASSERT_EQ(root.ModelCount(), 1u);
+    ASSERT_NE(nullptr, root.Model());
 
-    Entity modelEntity = this->creator->CreateEntities(root.ModelByIndex(0));
+    Entity modelEntity = this->creator->CreateEntities(root.Model());
     Entity worldEntity = this->ecm->EntityByComponents(components::World());
     this->creator->SetParent(modelEntity, worldEntity);
   }