remove deprecated set_on_parameters_set_callback function (#1199)

Signed-off-by: claireyywang <[email protected]>
ros2 · Jun 29, 2020 · a8cd936 · a8cd936
1 parent c92f3b7
commit a8cd936
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diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
@@ -842,26 +842,6 @@ class Node : public std::enable_shared_from_this<Node>
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler);
 
-  /// Register a callback to be called anytime a parameter is about to be changed.
-  /**
-   * \deprecated Use add_on_set_parameters_callback instead.
-   * With this method, only one callback can be set at a time. The callback that was previously
-   * set by this method is returned or `nullptr` if no callback was previously set.
-   *
-   * The callbacks added with `add_on_set_parameters_callback` are stored in a different place.
-   * `remove_on_set_parameters_callback` can't be used with the callbacks registered with this
-   * method. For removing it, use `set_on_parameters_set_callback(nullptr)`.
-   *
-   * \param[in] callback The callback to be called when the value for a
-   *   parameter is about to be set.
-   * \return The previous callback that was registered, if there was one,
-   *   otherwise nullptr.
-   */
-  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
-  RCLCPP_PUBLIC
-  OnParametersSetCallbackType
-  set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback);
-
   /// Get the fully-qualified names of all available nodes.
   /**
    * The fully-qualified name includes the local namespace and name of the node.

diff --git a/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp b/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
@@ -167,11 +167,6 @@ class NodeParameters : public NodeParametersInterface
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) override;
 
-  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
-  RCLCPP_PUBLIC
-  OnParametersSetCallbackType
-  set_on_parameters_set_callback(OnParametersSetCallbackType callback) override;
-
   RCLCPP_PUBLIC
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const override;

diff --git a/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp b/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
@@ -191,17 +191,6 @@ class NodeParametersInterface
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) = 0;
 
-  /// Register a callback for when parameters are being set, return an existing one.
-  /**
-   * \deprecated Use add_on_set_parameters_callback instead.
-   * \sa rclcpp::Node::set_on_parameters_set_callback
-   */
-  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
-  RCLCPP_PUBLIC
-  virtual
-  OnParametersSetCallbackType
-  set_on_parameters_set_callback(OnParametersSetCallbackType callback) = 0;
-
   /// Return the initial parameter values used by the NodeParameters to override default values.
   RCLCPP_PUBLIC
   virtual

diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
@@ -328,28 +328,6 @@ Node::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * co
   return node_parameters_->remove_on_set_parameters_callback(callback);
 }
 
-// suppress deprecated function warning
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-
-rclcpp::Node::OnParametersSetCallbackType
-Node::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
-{
-  return node_parameters_->set_on_parameters_set_callback(callback);
-}
-
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-
 std::vector<std::string>
 Node::get_node_names() const
 {

diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp
@@ -874,18 +874,6 @@ NodeParameters::add_on_set_parameters_callback(OnParametersSetCallbackType callb
   return handle;
 }
 
-NodeParameters::OnParametersSetCallbackType
-NodeParameters::set_on_parameters_set_callback(OnParametersSetCallbackType callback)
-{
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-
-  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
-
-  auto existing_callback = on_parameters_set_callback_;
-  on_parameters_set_callback_ = callback;
-  return existing_callback;
-}
-
 const std::map<std::string, rclcpp::ParameterValue> &
 NodeParameters::get_parameter_overrides() const
 {

diff --git a/rclcpp/test/rclcpp/test_node.cpp b/rclcpp/test/rclcpp/test_node.cpp
@@ -2329,206 +2329,6 @@ TEST_F(TestNode, get_parameter_types_undeclared_parameters_allowed) {
   }
 }
 
-// suppress deprecated function test warnings
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-
-// test that it is possible to call get_parameter within the set_callback
-TEST_F(TestNode, set_on_parameters_set_callback_get_parameter) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_get_parameter_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  double floatout;
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node, &floatout](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      rclcpp::Parameter floatparam = node->get_parameter("floatparam");
-      if (floatparam.get_value<double>() != 5.4) {
-        result.successful = false;
-      }
-      floatout = floatparam.get_value<double>();
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  ASSERT_NO_THROW(node->set_parameter({"intparam", 40}));
-  ASSERT_EQ(floatout, 5.4);
-}
-
-// test that calling set_parameter inside of a set_callback throws an exception
-TEST_F(TestNode, set_on_parameters_set_callback_set_parameter) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_set_parameter_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      // This should throw an exception
-      node->set_parameter({"floatparam", 5.6});
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  EXPECT_THROW(
-  {
-    node->set_parameter(rclcpp::Parameter("intparam", 40));
-  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
-}
-
-// test that calling declare_parameter inside of a set_callback throws an exception
-TEST_F(TestNode, set_on_parameters_set_callback_declare_parameter) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_declare_parameter_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      // This should throw an exception
-      node->declare_parameter("floatparam2", 5.6);
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  EXPECT_THROW(
-  {
-    node->set_parameter(rclcpp::Parameter("intparam", 40));
-  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
-}
-
-// test that calling undeclare_parameter inside a set_callback throws an exception
-TEST_F(TestNode, set_on_parameters_set_callback_undeclare_parameter) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_undeclare_parameter_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      // This should throw an exception
-      node->undeclare_parameter("floatparam");
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  EXPECT_THROW(
-  {
-    node->set_parameter(rclcpp::Parameter("intparam", 40));
-  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
-}
-
-// test that calling set_on_parameters_set_callback from a set_callback throws an exception
-TEST_F(TestNode, set_on_parameters_set_callback_set_on_parameters_set_callback) {
-  auto node = std::make_shared<rclcpp::Node>("test_set_callback_set_callback_node"_unq);
-
-  int64_t intval = node->declare_parameter("intparam", 42);
-  EXPECT_EQ(intval, 42);
-  double floatval = node->declare_parameter("floatparam", 5.4);
-  EXPECT_EQ(floatval, 5.4);
-
-  RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
-  auto on_set_parameters =
-    [&node](const std::vector<rclcpp::Parameter> & parameters) {
-      rcl_interfaces::msg::SetParametersResult result;
-      result.successful = true;
-      if (parameters.size() != 1) {
-        result.successful = false;
-      }
-
-      if (parameters[0].get_value<int>() != 40) {
-        result.successful = false;
-      }
-
-      auto bad_parameters =
-        [](const std::vector<rclcpp::Parameter> & parameters) {
-          (void)parameters;
-          rcl_interfaces::msg::SetParametersResult result;
-          return result;
-        };
-
-      // This should throw an exception
-      node->set_on_parameters_set_callback(bad_parameters);
-
-      return result;
-    };
-
-  EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
-  EXPECT_THROW(
-  {
-    node->set_parameter(rclcpp::Parameter("intparam", 40));
-  }, rclcpp::exceptions::ParameterModifiedInCallbackException);
-}
-
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-
 void expect_qos_profile_eq(
   const rmw_qos_profile_t & qos1, const rmw_qos_profile_t & qos2, bool is_publisher)
 {

diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -469,17 +469,6 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
   remove_on_set_parameters_callback(
     const rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle * const handler);
 
-  /// Register a callback to be called anytime a parameter is about to be changed.
-  /**
-   * \deprecated Use add_on_set_parameters_callback instead.
-   * \sa rclcpp::Node::set_on_parameters_set_callback
-   */
-  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
-  RCLCPP_LIFECYCLE_PUBLIC
-  rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType
-  set_on_parameters_set_callback(
-    rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);
-
   /// Return a vector of existing node names (string).
   /**
    * \sa rclcpp::Node::get_node_names

diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp
@@ -268,28 +268,6 @@ LifecycleNode::remove_on_set_parameters_callback(
   node_parameters_->remove_on_set_parameters_callback(callback);
 }
 
-// suppress deprecated function warning
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-
-rclcpp::Node::OnParametersSetCallbackType
-LifecycleNode::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
-{
-  return node_parameters_->set_on_parameters_set_callback(callback);
-}
-
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-
 std::vector<std::string>
 LifecycleNode::get_node_names() const
 {