remove all deprecated classes and methods (#1456)

Signed-off-by: Tomoya Fujita <[email protected]>

Author: fujitatomoya

rclpy/rclpy/action/server.py

@@ -367,7 +367,7 @@ async def _execute_goal_request(
             # Catch the exception here and go on so we don't crash.
             self._handle.send_goal_response(request_header, response_msg)
         except RCLError:
-            self._logger.warn('Failed to send goal response (the client may have gone away)')
+            self._logger.warning('Failed to send goal response (the client may have gone away)')
             return
 
         if not accepted:
@@ -457,7 +457,7 @@ async def _execute_cancel_request(
             # Catch the exception here and go on so we don't crash.
             self._handle.send_cancel_response(request_header, cancel_response)
         except RCLError:
-            self._logger.warn('Failed to send cancel response (the client may have gone away)')
+            self._logger.warning('Failed to send cancel response (the client may have gone away)')
 
     async def _execute_get_result_request(
         self,
@@ -472,7 +472,7 @@ async def _execute_get_result_request(
         # If no goal with the requested ID exists, then return UNKNOWN status
         # or the goal with the requested ID has been already expired
         if bytes(goal_uuid) not in self._goal_handles:
-            self._logger.warn(
+            self._logger.warning(
                 'Sending result response for unknown or expired goal ID: {0}'.format(goal_uuid))
             result_response = self._action_type.Impl.GetResultService.Response()
             result_response.status = GoalStatus.STATUS_UNKNOWN

rclpy/rclpy/event_handler.py

@@ -22,7 +22,6 @@
 from typing import overload
 from typing import Type
 from typing import Union
-import warnings
 
 import rclpy
 from rclpy.callback_groups import CallbackGroup
@@ -31,7 +30,6 @@
 from rclpy.qos import qos_policy_name_from_kind
 from rclpy.waitable import NumberOfEntities
 from rclpy.waitable import Waitable
-from typing_extensions import deprecated
 from typing_extensions import TypeAlias
 
 
@@ -184,16 +182,6 @@ def destroy(self) -> None:
         self.__event.destroy_when_not_in_use()
 
 
-@deprecated('QoSEventHandler foo is deprecated, use EventHandler instead.',
-            category=DeprecationWarning, stacklevel=2)
-class QoSEventHandler(EventHandler):
-
-    def __init__(self, *args: Any, **kwargs: Any) -> None:
-        warnings.warn('QoSEventHandler is deprecated, use EventHandler instead.',
-                      DeprecationWarning, stacklevel=2)
-        super().__init__(*args, **kwargs)
-
-
 class SubscriptionEventCallbacks:
     """Container to provide middleware event callbacks for a Subscription."""
 
@@ -254,7 +242,7 @@ def create_event_handlers(
             # Register default callback when not specified
             def _default_incompatible_qos_callback(event: QoSRequestedIncompatibleQoSInfo) -> None:
                 policy_name = qos_policy_name_from_kind(event.last_policy_kind)
-                logger.warn(
+                logger.warning(
                     "New publisher discovered on topic '{}', offering incompatible QoS. "
                     'No messages will be received from it. '
                     'Last incompatible policy: {}'.format(topic_name, policy_name))
@@ -290,7 +278,7 @@ def _default_incompatible_qos_callback(event: QoSRequestedIncompatibleQoSInfo) -
         elif self.use_default_callbacks:
             # Register default callback when not specified
             def _default_incompatible_type_callback(event: Any) -> None:
-                logger.warn(
+                logger.warning(
                     "Incompatible type on topic '{}', no messages will be sent to it."
                     .format(topic_name))
             incompatible_type_callback = _default_incompatible_type_callback
@@ -379,7 +367,7 @@ def create_event_handlers(
             # Register default callback when not specified
             def _default_incompatible_qos_callback(event: QoSRequestedIncompatibleQoSInfo) -> None:
                 policy_name = qos_policy_name_from_kind(event.last_policy_kind)
-                logger.warn(
+                logger.warning(
                     "New subscription discovered on topic '{}', requesting incompatible QoS. "
                     'No messages will be sent to it. '
                     'Last incompatible policy: {}'.format(topic_name, policy_name))
@@ -401,7 +389,7 @@ def _default_incompatible_qos_callback(event: QoSRequestedIncompatibleQoSInfo) -
         elif self.use_default_callbacks:
             # Register default callback when not specified
             def _default_incompatible_type_callback(event: Any) -> None:
-                logger.warn(
+                logger.warning(
                     "Incompatible type on topic '{}', no messages will be sent to it."
                     .format(topic_name))
             incompatible_type_callback = _default_incompatible_type_callback

rclpy/rclpy/impl/rcutils_logger.py

@@ -31,7 +31,7 @@
 from rclpy.clock import Clock
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.impl.logging_severity import LoggingSeverity
-from typing_extensions import deprecated, Unpack
+from typing_extensions import Unpack
 
 
 SupportedFiltersKeys = Literal['throttle', 'skip_first', 'once']
@@ -423,15 +423,6 @@ def warning(self, message: str, **kwargs: 'Unpack[LoggingArgs]') -> bool:
         """Log a message with `WARN` severity via :py:classmethod:RcutilsLogger.log:."""
         return self.log(message, LoggingSeverity.WARN, **kwargs)
 
-    @deprecated('Deprecated in favor of :py:classmethod:RcutilsLogger.warning:.')
-    def warn(self, message: str, **kwargs: 'Unpack[LoggingArgs]') -> bool:
-        """
-        Log a message with `WARN` severity via :py:classmethod:RcutilsLogger.log:.
-
-        Deprecated in favor of :py:classmethod:RcutilsLogger.warning:.
-        """
-        return self.warning(message, **kwargs)
-
     def error(self, message: str, **kwargs: 'Unpack[LoggingArgs]') -> bool:
         """Log a message with `ERROR` severity via :py:classmethod:RcutilsLogger.log:."""
         return self.log(message, LoggingSeverity.ERROR, **kwargs)

rclpy/rclpy/node.py

@@ -101,7 +101,6 @@
 from rclpy.validate_parameter_name import validate_parameter_name
 from rclpy.validate_topic_name import validate_topic_name
 from rclpy.waitable import Waitable
-from typing_extensions import deprecated
 from typing_extensions import TypeAlias
 
 
@@ -388,18 +387,6 @@ def declare_parameter(self, name: str, value: Union[AllowableParameterValueT,
                           ignore_override: bool = False
                           ) -> Parameter[AllowableParameterValueT]: ...
 
-    @overload
-    @deprecated('when declaring a parameter only providing its name is deprecated. '
-                'You have to either:\n'
-                '\t- Pass a name and a default value different to "PARAMETER NOT SET"'
-                ' (and optionally a descriptor).\n'
-                '\t- Pass a name and a parameter type.\n'
-                '\t- Pass a name and a descriptor with `dynamic_typing=True')
-    def declare_parameter(self, name: str,
-                          value: None = None,
-                          descriptor: None = None,
-                          ignore_override: bool = False) -> Parameter[Any]: ...
-
     @overload
     def declare_parameter(self, name: str,
                           value: Union[None, Parameter.Type, ParameterValue] = None,
@@ -455,29 +442,10 @@ def declare_parameters(
         ignore_override: bool = False
     ) -> List[Parameter[Any]]: ...
 
-    @overload
-    @deprecated('when declaring a parameter only providing its name is deprecated. '
-                'You have to either:\n'
-                '\t- Pass a name and a default value different to "PARAMETER NOT SET"'
-                ' (and optionally a descriptor).\n'
-                '\t- Pass a name and a parameter type.\n'
-                '\t- Pass a name and a descriptor with `dynamic_typing=True')
-    def declare_parameters(
-        self,
-        namespace: str,
-        parameters: Sequence[Union[
-            Tuple[str],
-            Tuple[str, ParameterInput],
-            Tuple[str, ParameterInput, ParameterDescriptor],
-        ]],
-        ignore_override: bool = False
-    ) -> List[Parameter[Any]]: ...
-
     def declare_parameters(
         self,
         namespace: str,
         parameters: Union[Sequence[Union[
-            Tuple[str],
             Tuple[str, ParameterInput],
             Tuple[str, ParameterInput, ParameterDescriptor]]],
                   Sequence[Union[
@@ -565,15 +533,14 @@ def declare_parameters(
                 )
 
             if len(parameter_tuple) == 1:
-                warnings.warn(
+                raise TypeError(
                     f"when declaring parameter named '{name}', "
-                    'declaring a parameter only providing its name is deprecated. '
+                    'declaring a parameter only providing its name is not allowed. '
                     'You have to either:\n'
                     '\t- Pass a name and a default value different to "PARAMETER NOT SET"'
                     ' (and optionally a descriptor).\n'
                     '\t- Pass a name and a parameter type.\n'
                     '\t- Pass a name and a descriptor with `dynamic_typing=True')
-                descriptor.dynamic_typing = True
 
             if isinstance(second_arg, Parameter.Type):
                 if second_arg == Parameter.Type.NOT_SET:

rclpy/rclpy/qos.py

@@ -13,8 +13,7 @@
 # limitations under the License.
 
 from enum import Enum, IntEnum
-from typing import (Any, Callable, Iterable, List, Optional, Tuple, Type,
-                    TypeVar, Union)
+from typing import (Any, List, Optional, Tuple, TypeVar, Union)
 import warnings
 
 from rclpy.duration import Duration
@@ -315,41 +314,6 @@ def short_key(self) -> str:
 _T = TypeVar('_T', bound=QoSPolicyEnum)
 
 
-class _DeprecatedPolicyValueAlias:
-    """Helper to deprecate a policy value."""
-
-    def __init__(self, replacement_name: str, deprecated_name: str) -> None:
-        self.replacement_name = replacement_name
-        self.deprecated_name = deprecated_name
-
-    def __get__(self, obj: object,
-                policy_cls: Type[_T]) -> _T:
-        warnings.warn(
-            f'{policy_cls.__name__}.{self.deprecated_name} is deprecated. '
-            f'Use {policy_cls.__name__}.{self.replacement_name} instead.'
-        )
-        return policy_cls[self.replacement_name]
-
-
-def _deprecated_policy_value_aliases(pairs: Iterable[Tuple[str, str]]) \
-                                     -> Callable[[Type[_T]], Type[_T]]:
-    def decorator(policy_cls: Type[_T]) -> Type[_T]:
-        for deprecated_name, replacement_name in pairs:
-            setattr(
-                policy_cls,
-                deprecated_name,
-                _DeprecatedPolicyValueAlias(replacement_name, deprecated_name)
-            )
-        return policy_cls
-    return decorator
-
-
-@_deprecated_policy_value_aliases((
-    ('RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT', 'SYSTEM_DEFAULT'),
-    ('RMW_QOS_POLICY_HISTORY_KEEP_LAST', 'KEEP_LAST'),
-    ('RMW_QOS_POLICY_HISTORY_KEEP_ALL', 'KEEP_ALL'),
-    ('RMW_QOS_POLICY_HISTORY_UNKNOWN', 'UNKNOWN'),
-))
 class HistoryPolicy(QoSPolicyEnum):
     """
     Enum for QoS History settings.
@@ -367,12 +331,6 @@ class HistoryPolicy(QoSPolicyEnum):
 QoSHistoryPolicy: TypeAlias = HistoryPolicy
 
 
-@_deprecated_policy_value_aliases((
-    ('RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT', 'SYSTEM_DEFAULT'),
-    ('RMW_QOS_POLICY_RELIABILITY_RELIABLE', 'RELIABLE'),
-    ('RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT', 'BEST_EFFORT'),
-    ('RMW_QOS_POLICY_RELIABILITY_UNKNOWN', 'UNKNOWN'),
-))
 class ReliabilityPolicy(QoSPolicyEnum):
     """
     Enum for QoS Reliability settings.
@@ -391,12 +349,6 @@ class ReliabilityPolicy(QoSPolicyEnum):
 QoSReliabilityPolicy: TypeAlias = ReliabilityPolicy
 
 
-@_deprecated_policy_value_aliases((
-    ('RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT', 'SYSTEM_DEFAULT'),
-    ('RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL', 'TRANSIENT_LOCAL'),
-    ('RMW_QOS_POLICY_DURABILITY_VOLATILE', 'VOLATILE'),
-    ('RMW_QOS_POLICY_DURABILITY_UNKNOWN', 'UNKNOWN'),
-))
 class DurabilityPolicy(QoSPolicyEnum):
     """
     Enum for QoS Durability settings.
@@ -415,12 +367,6 @@ class DurabilityPolicy(QoSPolicyEnum):
 QoSDurabilityPolicy: TypeAlias = DurabilityPolicy
 
 
-@_deprecated_policy_value_aliases((
-    ('RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT', 'SYSTEM_DEFAULT'),
-    ('RMW_QOS_POLICY_LIVELINESS_AUTOMATIC', 'AUTOMATIC'),
-    ('RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC', 'MANUAL_BY_TOPIC'),
-    ('RMW_QOS_POLICY_DURABILITY_UNKNOWN', 'UNKNOWN'),
-))
 class LivelinessPolicy(QoSPolicyEnum):
     """
     Enum for QoS Liveliness settings.

rclpy/rclpy/qos_event.py

@@ -877,7 +877,7 @@ void EventsExecutor::HandleCallbackExceptionWithLogger(
     R"(
 import traceback
 logger.fatal(f"Exception in '{node_entity_attr}' callback: {exc_value}")
-logger.warn("Error occurred at:\n" + "".join(traceback.format_tb(exc_trace)))
+logger.warning("Error occurred at:\n" + "".join(traceback.format_tb(exc_trace)))
 )",
     scope);
 }