Deprecations, ign -> gz (#1631)

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

include/gz/sim/Events.hh

@@ -55,16 +55,15 @@ namespace gz
       using Stop = gz::common::EventT<void(void), struct StopTag>;
 
       /// \brief Please use the LoadSdfPlugins event. The LoadPlugins event
-      /// will be deprecrated in Gazebo 7 (Garden). Also make sure to
+      /// is deprecrated in Gazebo 7 (Garden). Also make sure to
       /// connect to only LoadSdfPlugins or LoadPlugins, and not both events.
       ///
       /// Event used to load plugins for an entity into simulation.
       /// Pass in the entity which will own the plugins, and an SDF element for
       /// the entity, which may contain multiple `<plugin>` tags.
-      /// \note This will be deprecated in Gazebo 7 (Garden), please the use
-      /// sdf::Plugin interface.
-      using LoadPlugins = common::EventT<void(Entity, sdf::ElementPtr),
-          struct LoadPluginsTag>;
+      /// \deprecated Use the `sdf::Plugins` interface.
+      using LoadPlugins GZ_DEPRECATED(7) =
+          common::EventT<void(Entity, sdf::ElementPtr), struct LoadPluginsTag>;
 
       /// \brief Event used to load plugins for an entity into simulation.
       /// Pass in the entity which will own the plugins, and an SDF element for

include/gz/sim/ServerConfig.hh

@@ -142,7 +142,7 @@ namespace gz
         /// \brief Get the plugin library filename.
         /// \return Plugin library filename.
         /// \deprecated Use `sdf::Plugin` interface.
-        public: const std::string & GZ_DEPRECATED(7) Filename() const;
+        public: const std::string GZ_DEPRECATED(7) & Filename() const;
 
         /// \brief Set the type of the entity which should receive this
         /// plugin. The type is used in conjuction with EntityName to
@@ -155,7 +155,7 @@ namespace gz
         /// to load.
         /// \return Interface name.
         /// \deprecated Use `sdf::Plugin` interface.
-        public: const std::string & GZ_DEPRECATED(7) Name() const;
+        public: const std::string GZ_DEPRECATED(7) & Name() const;
 
         /// \brief Set the name of the interface within the plugin library
         /// to load.
@@ -166,7 +166,7 @@ namespace gz
         /// \brief Plugin XML elements associated with this plugin.
         /// \return SDF pointer.
         /// \deprecated Use `sdf::Plugin` interface.
-        public: const sdf::ElementPtr & GZ_DEPRECATED(7) Sdf() const;
+        public: const sdf::ElementPtr GZ_DEPRECATED(7) & Sdf() const;
 
         /// \brief Set the plugin XML elements associated with this plugin.
         /// \param[in] _sdf SDF pointer, it will be cloned.

src/LevelManager.cc

@@ -231,9 +231,11 @@ void LevelManager::ReadLevelPerformerInfo()
   // Load world plugins.
   this->runner->EventMgr().Emit<events::LoadSdfPlugins>(this->worldEntity,
       this->runner->sdfWorld->Plugins());
-  // Deprecate this in Garden
+
+  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
   this->runner->EventMgr().Emit<events::LoadPlugins>(this->worldEntity,
       this->runner->sdfWorld->Element());
+  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
 
   // Store the world's SDF DOM to be used when saving the world to file
   this->runner->entityCompMgr.CreateComponent(

src/SdfEntityCreator.cc

@@ -328,8 +328,10 @@ Entity SdfEntityCreator::CreateEntities(const sdf::World *_world)
       _world->Plugins());
   for (const sdf::Plugin &p : _world->Plugins())
   {
+    GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
     this->dataPtr->eventManager->Emit<events::LoadPlugins>(worldEntity,
         p.ToElement());
+    GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
   }
 
   // Store the world's SDF DOM to be used when saving the world to file
@@ -352,8 +354,10 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Model *_model)
     this->dataPtr->eventManager->Emit<events::LoadSdfPlugins>(entity, plugins);
     for (const sdf::Plugin &p : plugins)
     {
+      GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
       this->dataPtr->eventManager->Emit<events::LoadPlugins>(entity,
           p.ToElement());
+      GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
     }
   }
   this->dataPtr->newModels.clear();
@@ -364,8 +368,10 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Model *_model)
     this->dataPtr->eventManager->Emit<events::LoadSdfPlugins>(entity, plugins);
     for (const sdf::Plugin &p : plugins)
     {
+      GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
       this->dataPtr->eventManager->Emit<events::LoadPlugins>(entity,
           p.ToElement());
+      GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
     }
   }
   this->dataPtr->newSensors.clear();
@@ -376,8 +382,10 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Model *_model)
     this->dataPtr->eventManager->Emit<events::LoadSdfPlugins>(entity, plugins);
     for (const sdf::Plugin &p : plugins)
     {
+      GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
       this->dataPtr->eventManager->Emit<events::LoadPlugins>(entity,
           p.ToElement());
+      GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
     }
   }
   this->dataPtr->newVisuals.clear();
@@ -514,8 +522,10 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Actor *_actor)
         _actor->Plugins());
   for (const sdf::Plugin &p : _actor->Plugins())
   {
+    GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
     this->dataPtr->eventManager->Emit<events::LoadPlugins>(actorEntity,
         p.ToElement());
+    GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
   }
 
   return actorEntity;

src/ServerConfig.cc

@@ -42,9 +42,7 @@ class gz::sim::ServerConfig::PluginInfoPrivate
               const std::unique_ptr<ServerConfig::PluginInfoPrivate> &_info)
           : entityName(_info->entityName),
             entityType(_info->entityType),
-            plugin(_info->plugin),
-            filename(_info->filename),
-            name(_info->name)
+            plugin(_info->plugin)
   {
     this->sdf = plugin.Element();
   }
@@ -66,8 +64,6 @@ class gz::sim::ServerConfig::PluginInfoPrivate
           : entityName(std::move(_entityName)),
             entityType(std::move(_entityType)),
             plugin(std::move(_plugin)),
-            filename(plugin.Filename()),
-            name(plugin.Name()),
             sdf(plugin.Element())
   {
   }
@@ -81,14 +77,6 @@ class gz::sim::ServerConfig::PluginInfoPrivate
   /// \brief SDF plugin information.
   public: sdf::Plugin plugin;
 
-  /// \brief _filename The plugin library.
-  // Remove this in Garden, and rely solely on the plugin variable.
-  // Requires: https://github.com/gazebosim/sdformat/pull/1055
-  public: std::string filename = "";
-
-  /// \brief Name of the plugin implementation.
-  public: std::string name = "";
-
   /// \brief XML elements associated with this plugin
   public: sdf::ElementPtr sdf = nullptr;
 };
@@ -117,8 +105,6 @@ ServerConfig::PluginInfo::PluginInfo(const std::string &_entityName,
   }
   this->dataPtr->plugin.SetName(_name);
   this->dataPtr->plugin.SetFilename(_filename);
-  this->dataPtr->filename = _filename;
-  this->dataPtr->name = _name;
   this->dataPtr->entityName = _entityName;
   this->dataPtr->entityType = _entityType;
 }
@@ -174,27 +160,25 @@ void ServerConfig::PluginInfo::SetEntityType(const std::string &_entityType)
 //////////////////////////////////////////////////
 const std::string &ServerConfig::PluginInfo::Filename() const
 {
-  return this->dataPtr->filename;
+  return this->dataPtr->plugin.Filename();
 }
 
 //////////////////////////////////////////////////
 void ServerConfig::PluginInfo::SetFilename(const std::string &_filename)
 {
   this->dataPtr->plugin.SetFilename(_filename);
-  this->dataPtr->filename = _filename;
 }
 
 //////////////////////////////////////////////////
 const std::string &ServerConfig::PluginInfo::Name() const
 {
-  return this->dataPtr->name;
+  return this->dataPtr->plugin.Name();
 }
 
 //////////////////////////////////////////////////
 void ServerConfig::PluginInfo::SetName(const std::string &_name)
 {
   this->dataPtr->plugin.SetName(_name);
-  this->dataPtr->name = _name;
 }
 
 //////////////////////////////////////////////////
@@ -231,8 +215,6 @@ sdf::Plugin &ServerConfig::PluginInfo::Plugin()
 void ServerConfig::PluginInfo::SetPlugin(const sdf::Plugin &_plugin) const
 {
   this->dataPtr->plugin = _plugin;
-  this->dataPtr->filename = _plugin.Filename();
-  this->dataPtr->name = _plugin.Name();
 }
 
 /// \brief Private data for ServerConfig.

src/Server_TEST.cc

@@ -622,7 +622,7 @@ TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(RunOnceUnpaused))
   sim::SystemLoader systemLoader;
   sdf::Plugin sdfPlugin;
   sdfPlugin.SetName("gz::sim::MockSystem");
-  sdfPlugin.SetFilename("libMockSystem.so");
+  sdfPlugin.SetFilename("MockSystem");
   auto mockSystemPlugin = systemLoader.LoadPlugin(sdfPlugin);
   ASSERT_TRUE(mockSystemPlugin.has_value());
 
@@ -671,7 +671,7 @@ TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(RunOncePaused))
   sim::SystemLoader systemLoader;
   sdf::Plugin sdfPlugin;
   sdfPlugin.SetName("gz::sim::MockSystem");
-  sdfPlugin.SetFilename("libMockSystem.so");
+  sdfPlugin.SetFilename("MockSystem");
   auto mockSystemPlugin = systemLoader.LoadPlugin(sdfPlugin);
   ASSERT_TRUE(mockSystemPlugin.has_value());
 
@@ -836,7 +836,7 @@ TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(AddSystemWhileRunning))
   sim::SystemLoader systemLoader;
   sdf::Plugin sdfPlugin;
   sdfPlugin.SetName("gz::sim::MockSystem");
-  sdfPlugin.SetFilename("libMockSystem.so");
+  sdfPlugin.SetFilename("MockSystem");
   auto mockSystemPlugin = systemLoader.LoadPlugin(sdfPlugin);
   ASSERT_TRUE(mockSystemPlugin.has_value());
 
@@ -875,7 +875,7 @@ TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(AddSystemAfterLoad))
   sim::SystemLoader systemLoader;
   sdf::Plugin sdfPlugin;
   sdfPlugin.SetName("gz::sim::MockSystem");
-  sdfPlugin.SetFilename("libMockSystem.so");
+  sdfPlugin.SetFilename("MockSystem");
   auto mockSystemPlugin = systemLoader.LoadPlugin(sdfPlugin);
   ASSERT_TRUE(mockSystemPlugin.has_value());
 

test/integration/battery_plugin.cc

@@ -55,7 +55,7 @@ class BatteryPluginTest : public InternalFixture<::testing::Test>
 
     sdf::Plugin sdfPlugin;
     sdfPlugin.SetName("gz::sim::MockSystem");
-    sdfPlugin.SetFilename("libMockSystem.so");
+    sdfPlugin.SetFilename("MockSystem");
     auto plugin = sm.LoadPlugin(sdfPlugin);
     EXPECT_TRUE(plugin.has_value());
     this->systemPtr = plugin.value();

test/integration/reset.cc

@@ -56,9 +56,10 @@ class ResetFixture: public InternalFixture<::testing::Test>
   {
     InternalFixture::SetUp();
 
-    auto plugin = sm.LoadPlugin("libMockSystem.so",
-                                "gz::sim::MockSystem",
-                                nullptr);
+    sdf::Plugin sdfPlugin;
+    sdfPlugin.SetName("gz::sim::MockSystem");
+    sdfPlugin.SetFilename("MockSystem");
+    auto plugin = sm.LoadPlugin(sdfPlugin);
     EXPECT_TRUE(plugin.has_value());
     this->systemPtr = plugin.value();
     this->mockSystem = static_cast<sim::MockSystem *>(

test/integration/scene_broadcaster_system.cc

@@ -969,7 +969,7 @@ TEST_P(SceneBroadcasterTest,
   // Start server
   gz::sim::ServerConfig serverConfig;
   serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +
-      common::joinPaths("/", "test", "worlds", "particle_emitter2.sdf"));
+      common::joinPaths("/", "test", "worlds", "particle_emitter.sdf"));
 
   sim::Server server(serverConfig);
   EXPECT_FALSE(server.Running());

test/integration/sensors_system_battery.cc

@@ -65,9 +65,10 @@ class SensorsFixture : public InternalFixture<InternalFixture<::testing::Test>>
   {
     InternalFixture::SetUp();
 
-    auto plugin = sm.LoadPlugin("libMockSystem.so",
-                                "gz::sim::MockSystem",
-                                nullptr);
+    sdf::Plugin sdfPlugin;
+    sdfPlugin.SetName("gz::sim::MockSystem");
+    sdfPlugin.SetFilename("MockSystem");
+    auto plugin = sm.LoadPlugin(sdfPlugin);
     EXPECT_TRUE(plugin.has_value());
     this->systemPtr = plugin.value();
     this->mockSystem = static_cast<sim::MockSystem *>(

test/worlds/diff_drive_no_plugin.sdf

@@ -7,8 +7,8 @@
       <real_time_factor>0</real_time_factor>
     </physics>
     <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
     </plugin>
 
     <light type="directional" name="sun">

test/worlds/particle_emitter.sdf

@@ -11,6 +11,10 @@
       filename="gz-sim-particle-emitter-system"
       name="gz::sim::systems::ParticleEmitter">
     </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
 
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>

test/worlds/reset_detachable_joint.sdf

@@ -2,12 +2,12 @@
 <sdf version="1.9">
   <world name="default">
     <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 
     <light type="directional" name="sun">