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🕐 Tock: Remove Fortress deprecations #1605

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merged 9 commits into from
Aug 12, 2022
Merged

🕐 Tock: Remove Fortress deprecations #1605

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8bde8dc
🕐 Tock: Remove Fortress deprecations
chapulina Jul 20, 2022
a314d66
remove legacy and more scene3d
chapulina Jul 20, 2022
431bac2
Merge branch 'main' into chapulina/7/depre
chapulina Aug 9, 2022
e5398a0
indentation
chapulina Aug 9, 2022
63d1109
Redirect GzScene3d to MinimalScene
chapulina Aug 9, 2022
1c77db9
indentation
chapulina Aug 9, 2022
465aedc
indentation
chapulina Aug 9, 2022
8ddc01f
indentation
chapulina Aug 9, 2022
8fbd6dd
linter
chapulina Aug 10, 2022
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4 changes: 2 additions & 2 deletions examples/plugin/rendering_plugins/RenderingGuiPlugin.hh
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Expand Up @@ -23,8 +23,8 @@
#include <gz/rendering/Scene.hh>

/// \brief Example of a GUI plugin that uses Gazebo Rendering.
/// This plugin works with either Gazebo GUI's Scene3D or Gazebo Sim's
/// Scene3D.
/// This plugin works with Gazebo GUI's MinimalScene or any plugin providing
/// similar functionality.
class RenderingGuiPlugin : public gz::gui::Plugin
{
Q_OBJECT
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3 changes: 0 additions & 3 deletions examples/scripts/log_video_recorder/log_video_recorder.sdf
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Expand Up @@ -128,9 +128,6 @@
<lockstep>true</lockstep>
<bitrate>4000000</bitrate>
</record_video>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>
</gui>
</world>
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84 changes: 49 additions & 35 deletions examples/worlds/conveyor.sdf
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Expand Up @@ -221,43 +221,57 @@
</model>

<gui fullscreen="0">
<!-- 3D scene -->
<plugin filename="GzScene3D" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>
<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>

</plugin>
<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
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9 changes: 0 additions & 9 deletions examples/worlds/minimal_scene.sdf
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Expand Up @@ -214,9 +214,6 @@ Features:
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>

<!-- Screenshot -->
Expand Down Expand Up @@ -251,9 +248,6 @@ Features:
<lockstep>true</lockstep>
<bitrate>4000000</bitrate>
</record_video>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>

<!-- Inspector -->
Expand All @@ -275,9 +269,6 @@ Features:
<gz-gui>
<property type="string" key="state">docked_collapsed</property>
</gz-gui>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>

</gui>
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3 changes: 0 additions & 3 deletions examples/worlds/spherical_coordinates.sdf
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Expand Up @@ -213,9 +213,6 @@ gz service -s /world/spherical_coordinates/set_spherical_coordinates \
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>

<!-- Entity tree -->
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65 changes: 52 additions & 13 deletions examples/worlds/tracked_vehicle_simple.sdf
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Expand Up @@ -1723,18 +1723,57 @@
</include>

<gui fullscreen='0'>
<plugin name='3D View' filename='GzScene3D'>
<gz-gui>
<title>3D View</title>
<property type='bool' key='showTitleBar'>0</property>
<property type='string' key='state'>docked</property>
</gz-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>
<!-- 3D scene -->
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<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin name='World control' filename='WorldControl'>
<gz-gui>
<title>World control</title>
Expand Down Expand Up @@ -1819,4 +1858,4 @@
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
<atmosphere type='adiabatic'/>
</world>
</sdf>
</sdf>
3 changes: 0 additions & 3 deletions examples/worlds/tunnel.sdf
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Expand Up @@ -89,9 +89,6 @@
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>

<!-- Insert simple shapes -->
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6 changes: 0 additions & 6 deletions examples/worlds/video_record_dbl_pendulum.sdf
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Expand Up @@ -134,9 +134,6 @@
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>
<!-- Screenshot -->
<plugin filename="Screenshot" name="Screenshot">
Expand Down Expand Up @@ -225,9 +222,6 @@
<lockstep>true</lockstep>
<bitrate>4000000</bitrate>
</record_video>

<!-- disable legacy features used to connect this plugin to GzScene3D -->
<legacy>false</legacy>
</plugin>
</gui>

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43 changes: 0 additions & 43 deletions include/gz/sim/EntityComponentManager.hh
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Expand Up @@ -201,13 +201,6 @@ namespace gz
/// \return True if the provided _typeId has been created.
public: bool HasComponentType(const ComponentTypeId _typeId) const;

/// \brief Check whether an entity has a specific component.
/// \param[in] _entity The entity to check.
/// \param[in] _key The component to check.
/// \return True if the component key belongs to the entity.
public: bool GZ_DEPRECATED(6) EntityHasComponent(const Entity _entity,
const ComponentKey &_key) const;

/// \brief Check whether an entity has a specific component type.
/// \param[in] _entity The entity to check.
/// \param[in] _typeId Component type id to check.
Expand All @@ -223,14 +216,6 @@ namespace gz
public: bool EntityMatches(Entity _entity,
const std::set<ComponentTypeId> &_types) const;

/// \brief Remove a component from an entity based on a key.
/// \param[in] _entity The entity.
/// \param[in] _key A key that uniquely identifies a component.
/// \return True if the entity and component existed and the component was
/// removed.
public: bool GZ_DEPRECATED(6) RemoveComponent(
const Entity _entity, const ComponentKey &_key);

/// \brief Remove a component from an entity based on a type id.
/// \param[in] _entity The entity.
/// \param[in] _typeId Component's type Id.
Expand Down Expand Up @@ -280,22 +265,6 @@ namespace gz
public: template<typename ComponentTypeT>
ComponentTypeT *Component(const Entity _entity);

/// \brief Get a component based on a key.
/// \param[in] _key A key that uniquely identifies a component.
/// \return The component associated with the key, or nullptr if the
/// component could not be found.
public: template<typename ComponentTypeT>
const ComponentTypeT GZ_DEPRECATED(6) * Component(
const ComponentKey &_key) const;

/// \brief Get a mutable component based on a key.
/// \param[in] _key A key that uniquely identifies a component.
/// \return The component associated with the key, or nullptr if the
/// component could not be found.
public: template<typename ComponentTypeT>
ComponentTypeT GZ_DEPRECATED(6) * Component(
const ComponentKey &_key);

/// \brief Get a mutable component assigned to an entity based on a
/// component type. If the component doesn't exist, create it and
/// initialize with the given default value.
Expand Down Expand Up @@ -341,18 +310,6 @@ namespace gz
public: std::unordered_set<ComponentTypeId> ComponentTypes(
Entity _entity) const;

/// \brief The first component instance of the specified type.
/// This function is now deprecated, and will always return nullptr.
/// \return nullptr.
public: template<typename ComponentTypeT>
const ComponentTypeT GZ_DEPRECATED(6) * First() const;

/// \brief The first component instance of the specified type.
/// This function is now deprecated, and will always return nullptr.
/// \return nullptr.
public: template<typename ComponentTypeT>
ComponentTypeT GZ_DEPRECATED(6) * First();

/// \brief Get an entity which matches the value of all the given
/// components. For example, the following will return the entity which
/// has a name component equal to "name" and has a model component:
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17 changes: 0 additions & 17 deletions include/gz/sim/Types.hh
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Expand Up @@ -77,32 +77,15 @@ namespace gz
OneTimeChange = 2
};

/// \brief A unique identifier for a component instance. The uniqueness
/// of a ComponentId is scoped to the component's type.
/// \sa ComponentKey.
/// \deprecated Deprecated on version 6, removed on version 7. Use
/// ComponentTypeId + Entity instead.
using ComponentId = int;

/// \brief A unique identifier for a component type. A component type
/// must be derived from `components::BaseComponent` and can contain plain
/// data or something more complex like `gz::math::Pose3d`.
using ComponentTypeId = uint64_t;

/// \brief A key that uniquely identifies, at the global scope, a component
/// instance
/// \note On version 6, the 2nd element was changed to the entity ID.
/// \deprecated Deprecated on version 6, removed on version 7. Use
/// ComponentTypeId + Entity instead.
using ComponentKey = std::pair<ComponentTypeId, Entity>;

/// \brief typedef for query callbacks
using EntityQueryCallback = std::function<void (const UpdateInfo,
EntityComponentManager &)>;

/// \brief Id that indicates an invalid component.
static const ComponentId kComponentIdInvalid = -1;

/// \brief Id that indicates an invalid component type.
static const ComponentTypeId kComponentTypeIdInvalid = UINT64_MAX;
}
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