Deprecations in favor of sdf::Plugin (#1631)

Signed-off-by: Louise Poubel <[email protected]>
gazebosim · Aug 5, 2022 · ba879d3 · ba879d3
1 parent f8733fa
commit ba879d3
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Showing 7 changed files with 30 additions and 17 deletions.
diff --git a/include/gz/sim/Events.hh b/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

diff --git a/src/LevelManager.cc b/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(

diff --git a/src/SdfEntityCreator.cc b/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;

diff --git a/src/Server_TEST.cc b/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());
 

diff --git a/test/integration/battery_plugin.cc b/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();

diff --git a/test/integration/reset.cc b/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 *>(

diff --git a/test/integration/sensors_system_battery.cc b/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 *>(