Deprecate LOCAL2 in SphericalCoordinates (#451)

* Deprecate LOCAL2 in `SphericalCoordinates` With the introduction of gazebosim/gz-math#616. We will be deprecating `LOCAL2` as a work around in favor or `LOCAL`. As part of this change, its probably a good idea to update `gz-msgs` as well. Signed-off-by: Arjo Chakravarty <[email protected]> * Fix deprecation warnings resulting from the deprecation of SphericalCoordinates enum field. Signed-off-by: Martin Pecka <[email protected]> --------- Signed-off-by: Arjo Chakravarty <[email protected]> Signed-off-by: Martin Pecka <[email protected]> Co-authored-by: Arjo Chakravarty <[email protected]>
gazebosim · Aug 22, 2024 · e99b705 · e99b705
1 parent 3d18b1e
commit e99b705
Show file tree

Hide file tree

Showing 5 changed files with 27 additions and 3 deletions.
diff --git a/Migration.md b/Migration.md
@@ -5,6 +5,12 @@ 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 10.X to 11.X
+### Deprecations
+
+1. **spherical_coordinates.proto**
+ + The `LOCAL2` field in `SphericalCoordinatesType` is deprecated, use `LOCAL` instead. See https://github.com/gazebosim/gz-math/pull/616 for more details
+
 ## Gazebo Msgs 9.X to 10.X
 
 ### Modifications 

diff --git a/core/generator/Generator.cc b/core/generator/Generator.cc
@@ -125,8 +125,11 @@ bool Generator::Generate(const FileDescriptor *_file,
 #include <memory>
 
 #include <gz/msgs/Export.hh>
+#include <gz/utils/SuppressWarning.hh>
 
+GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
 #include <$detail_header$>
+GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
 )");
 
  auto ns = getNamespaces(_file->package());

diff --git a/core/include/gz/msgs/convert/SphericalCoordinates.hh b/core/include/gz/msgs/convert/SphericalCoordinates.hh
@@ -34,7 +34,9 @@ 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
  switch (_sc)
  {
  case math::SphericalCoordinates::CoordinateType::ECEF:
@@ -49,9 +51,11 @@ 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;
  }
@@ -72,12 +76,16 @@ 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
 }
 
 /////////////////////////////////

diff --git a/proto/gz/msgs/spherical_coordinates.proto b/proto/gz/msgs/spherical_coordinates.proto
@@ -39,12 +39,10 @@ enum SphericalCoordinatesType
  GLOBAL = 2;
 
  /// \brief Heading-adjusted tangent plane (X, Y, Z)
- /// This has kept a bug for backwards compatibility, use
- /// LOCAL2 for the correct behaviour.
  LOCAL = 3;
 
  /// \brief Heading-adjusted tangent plane (X, Y, Z)
- LOCAL2 = 4;
+ LOCAL2 = 4 [deprecated=true];
 }
 
 message SphericalCoordinates

diff --git a/test/integration/Utility_TEST.cc b/test/integration/Utility_TEST.cc
@@ -354,8 +354,10 @@ 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));
@@ -365,8 +367,11 @@ 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(
  math::SphericalCoordinates(
@@ -452,10 +457,12 @@ 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
 }
 
 /////////////////////////////////////////////////
@@ -473,12 +480,14 @@ 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
 }
 
 /////////////////////////////////////////////////