🕐 Tock: Remove Fortress deprecations (#1605)

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

examples/plugin/rendering_plugins/RenderingGuiPlugin.hh

@@ -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

examples/scripts/log_video_recorder/log_video_recorder.sdf

@@ -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>

examples/worlds/conveyor.sdf

@@ -222,41 +222,55 @@
 
  <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>
+ <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>
+ <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>
-
- <property type="string" key="state">floating</property>
- <anchors target="3D View">
- <line own="left" target="left"/>
- <line own="bottom" target="bottom"/>
- </anchors>
- </gz-gui>
-
- <play_pause>true</play_pause>
- <step>true</step>
- <start_paused>true</start_paused>
-
+ <!-- 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 -->

examples/worlds/deprecated_ignition.sdf

@@ -2,6 +2,9 @@
 <!--
  This example shows that loading plugins with deprecated ignition prefixes still
  work, but the user should see warnings printed on the terminal.
+
+ It's also attempting to load the GzScene3D GUI plugin, and loads MinimalScene
+ plus other plugins instead.
 -->
 <sdf version="1.6">
  <world name="empty">
@@ -18,6 +21,22 @@
  name="ignition::gazebo::systems::SceneBroadcaster">
  </plugin>
 
+ <gui fullscreen="0">
+ <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>
+ </gui>
+
  <light type="directional" name="sun">
  <cast_shadows>true</cast_shadows>
  <pose>0 0 10 0 0 0</pose>

examples/worlds/minimal_scene.sdf

@@ -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 -->
@@ -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 -->
@@ -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>

examples/worlds/spherical_coordinates.sdf

@@ -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 -->

examples/worlds/tracked_vehicle_simple.sdf

@@ -1723,17 +1723,56 @@
  </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>
+ <!-- 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>
+
+ <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>
@@ -1819,4 +1858,4 @@
  <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
  <atmosphere type='adiabatic'/>
  </world>
-</sdf>
+</sdf>

examples/worlds/tunnel.sdf

@@ -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 -->

examples/worlds/video_record_dbl_pendulum.sdf

@@ -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">
@@ -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>
 

include/gz/sim/EntityComponentManager.hh

@@ -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.
@@ -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.
@@ -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.
@@ -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:

include/gz/sim/Types.hh

@@ -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;
  }