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Deprecate thread_priority again #2644

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e088531
Revert "Remove deprecation warning for kilted now"
christophfroehlich Oct 8, 2025
47f2898
Fix backwards compatibility code
christophfroehlich Oct 8, 2025
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16 changes: 13 additions & 3 deletions hardware_interface/include/hardware_interface/hardware_info.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -260,6 +260,13 @@ struct HardwareAsyncParams
};

/// This structure stores information about hardware defined in a robot's URDF.
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
struct HardwareInfo
{
/// Name of the hardware.
Expand All @@ -272,10 +279,8 @@ struct HardwareInfo
unsigned int rw_rate;
/// Component is async
bool is_async;
// TODO(anyone): deprecate after branching for kilted
/// [[deprecated("Use async_params instead.")]]
/// Async thread priority
int thread_priority;
[[deprecated("Use async_params instead.")]] int thread_priority;
/// Async Parameters
HardwareAsyncParams async_params;
/// Name of the pluginlib plugin of the hardware that will be loaded.
Expand Down Expand Up @@ -322,6 +327,11 @@ struct HardwareInfo
*/
std::unordered_map<std::string, joint_limits::SoftJointLimits> soft_limits;
};
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif

} // namespace hardware_interface
#endif // HARDWARE_INTERFACE__HARDWARE_INFO_HPP_
33 changes: 30 additions & 3 deletions hardware_interface/src/component_parser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -675,9 +675,23 @@ HardwareInfo parse_resource_from_xml(
hardware.type = get_attribute_value(ros2_control_it, kTypeAttribute, kROS2ControlTag);
hardware.rw_rate = parse_rw_rate_attribute(ros2_control_it);
hardware.is_async = parse_is_async_attribute(ros2_control_it);
hardware.thread_priority = hardware.is_async ? parse_thread_priority_attribute(ros2_control_it)
: std::numeric_limits<int>::max();
hardware.async_params.thread_priority = hardware.thread_priority;
hardware.async_params.thread_priority = hardware.is_async
? parse_thread_priority_attribute(ros2_control_it)
: std::numeric_limits<int>::max();
// TODO(anyone): remove this line once thread_priority is removed
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
hardware.thread_priority = hardware.async_params.thread_priority;
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif

// Parse everything under ros2_control tag
hardware.hardware_plugin_name = "";
Expand Down Expand Up @@ -725,7 +739,20 @@ HardwareInfo parse_resource_from_xml(
if (async_it->FindAttribute(kThreadPriorityAttribute))
{
hardware.async_params.thread_priority = parse_thread_priority_attribute(async_it);
// TODO(anyone): remove this line once thread_priority is removed
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
hardware.thread_priority = hardware.async_params.thread_priority;
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif
}
if (async_it->FindAttribute(kPrintWarningsAttribute))
{
Expand Down
93 changes: 87 additions & 6 deletions hardware_interface/test/test_component_parser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -880,7 +880,21 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_gpio
hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/RRBotSystemWithGPIOHardware");

ASSERT_FALSE(hardware_info.is_async);
ASSERT_EQ(hardware_info.thread_priority, std::numeric_limits<int>::max());
// TODO(anyone): remove this line once thread_priority is removed
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
ASSERT_EQ(hardware_info.thread_priority, hardware_info.async_params.thread_priority);
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif
ASSERT_EQ(hardware_info.async_params.thread_priority, std::numeric_limits<int>::max());
ASSERT_THAT(hardware_info.joints, SizeIs(2));

EXPECT_EQ(hardware_info.joints[0].name, "joint1");
Expand Down Expand Up @@ -952,7 +966,21 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_with_size_and_d
ASSERT_THAT(hardware_info.joints, SizeIs(1));

ASSERT_FALSE(hardware_info.is_async);
ASSERT_EQ(hardware_info.thread_priority, std::numeric_limits<int>::max());
// TODO(anyone): remove this line once thread_priority is removed
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
ASSERT_EQ(hardware_info.thread_priority, hardware_info.async_params.thread_priority);
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif
ASSERT_EQ(hardware_info.async_params.thread_priority, std::numeric_limits<int>::max());
EXPECT_EQ(hardware_info.joints[0].name, "joint1");
EXPECT_EQ(hardware_info.joints[0].type, "joint");
EXPECT_THAT(hardware_info.joints[0].command_interfaces, SizeIs(1));
Expand Down Expand Up @@ -1002,7 +1030,21 @@ TEST_F(

ASSERT_THAT(hardware_info.joints, SizeIs(1));
ASSERT_FALSE(hardware_info.is_async);
ASSERT_EQ(hardware_info.thread_priority, std::numeric_limits<int>::max());
// TODO(anyone): remove this line once thread_priority is removed
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
ASSERT_EQ(hardware_info.thread_priority, hardware_info.async_params.thread_priority);
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif
ASSERT_EQ(hardware_info.async_params.thread_priority, std::numeric_limits<int>::max());
EXPECT_EQ(hardware_info.joints[0].name, "joint1");
EXPECT_EQ(hardware_info.joints[0].type, "joint");
EXPECT_THAT(hardware_info.joints[0].command_interfaces, SizeIs(2));
Expand Down Expand Up @@ -1430,7 +1472,20 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_async_components)
ASSERT_THAT(hardware_info.group, IsEmpty());
ASSERT_THAT(hardware_info.joints, SizeIs(1));
ASSERT_TRUE(hardware_info.is_async);
ASSERT_EQ(hardware_info.thread_priority, 30);
// TODO(anyone): remove this line once thread_priority is removed
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
ASSERT_EQ(hardware_info.thread_priority, hardware_info.async_params.thread_priority);
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif
ASSERT_EQ(hardware_info.async_params.thread_priority, 30);
ASSERT_EQ(hardware_info.async_params.scheduling_policy, "detached");
ASSERT_FALSE(hardware_info.async_params.print_warnings);
Expand All @@ -1450,7 +1505,20 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_async_components)
ASSERT_THAT(hardware_info.joints, IsEmpty());
ASSERT_THAT(hardware_info.sensors, SizeIs(1));
ASSERT_TRUE(hardware_info.is_async);
ASSERT_EQ(hardware_info.thread_priority, 50);
// TODO(anyone): remove this line once thread_priority is removed
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
ASSERT_EQ(hardware_info.thread_priority, hardware_info.async_params.thread_priority);
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif
ASSERT_EQ(hardware_info.async_params.thread_priority, 50);
ASSERT_EQ(hardware_info.async_params.scheduling_policy, "synchronized");
ASSERT_TRUE(hardware_info.async_params.print_warnings);
Expand Down Expand Up @@ -1478,7 +1546,20 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_async_components)
EXPECT_EQ(hardware_info.gpios[0].name, "configuration");
EXPECT_EQ(hardware_info.gpios[0].type, "gpio");
ASSERT_TRUE(hardware_info.is_async);
ASSERT_EQ(hardware_info.thread_priority, 70);
// TODO(anyone): remove this line once thread_priority is removed
#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable : 4996)
#else
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
ASSERT_EQ(hardware_info.thread_priority, hardware_info.async_params.thread_priority);
#ifdef _MSC_VER
#pragma warning(pop)
#else
#pragma GCC diagnostic pop
#endif
ASSERT_EQ(hardware_info.async_params.thread_priority, 70);
ASSERT_EQ(hardware_info.async_params.scheduling_policy, "synchronized");
ASSERT_EQ(1u, hardware_info.async_params.cpu_affinity_cores.size());
Expand Down
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