Deprecate C Headers #720

CursedRock17 · 2024-10-26T06:25:30Z

This pull request is an attempt to help #259, specifically the first task

Rename all .h -> .hpp files. This will have to also have a deprecation warning, and should be done post-Foxy.

Since it's now post-Foxy I did something similar to this message_filters pull request, which was to simply deprecate a .h file with a warning, include the .hpp file, and just copy paste the logic from the .h file into the .hpp file. There were some slight formatting changes that had to be made to make cpplint and uncrustify happy. There is currently a copyrighting problem within the LinearMath files since they seem to be from the bullet library. I would like to know where we should move from this point when it comes to those files.

Signed-off-by: CursedRock17 <[email protected]>

ahcorde

copyright is failing

https://build.ros2.org/job/Rpr__geometry2__ubuntu_noble_amd64/123/testReport/junit/(root)/projectroot/copyright/

ahcorde · 2024-10-28T12:00:16Z

tf2/CMakeLists.txt

-    include/tf2/LinearMath/Scalar.h
-    include/tf2/LinearMath/Transform.h
-    include/tf2/LinearMath/Vector3.h
+    include/tf2/LinearMath/Matrix3x3.hpp


you should keep here both the h and the hpp

you should keep here both the h and the hpp

Agreed.

clalancette · 2024-10-28T12:03:59Z

Besides some of @ahcorde 's inline comments, we will also need to have PRs to the rest of the ROS 2 core to use the .hpp files instead of the .h ones. Also, this is a large enough change that once we are ready to merge it, we should probably send a message to https://discourse.ros.org letting people know that we've done this.

Signed-off-by: CursedRock17 <[email protected]>

CursedRock17 · 2024-10-28T12:10:05Z

Yeah I figured we would have to extend PRs to various libraries, I have one linked from rviz, but I haven't found anymore, I'll have to do some digging around to find out if I've missed any more of the core ones. As far as the copyrighting goes, I believe those inline comments were the missing piece, I've submitted a fix.

CursedRock17 · 2024-10-29T04:26:21Z

Updated downstream packages:

These were all the repositories that I could find, within the core ROS organizations, in which tf2 was utilized. There are likely thousands of repositories which are going to have warnings, which are warnings as to not break API, but I certainly wouldn't mind making a general PSA.

Timple · 2024-10-29T06:36:55Z

Would it make sense to provide .hpp files for all active distros? With as only content the include of the .h file.

This would mean all projects that do not have a branch per release can use this syntax already. Preventing ugly statements like this everywhere: https://github.com/autowarefoundation/autoware.universe/blob/9bd0f77c255edcff129ff08d190a5fdd8c45b6dc/localization/yabloc/yabloc_common/src/pub_sub.cpp#L18

For rolling we can keep the deprecation flag, not for older distros.

CursedRock17 · 2024-10-29T11:55:53Z

Yeah I don't see much of a compile downside, just a weirder file structure for older distributions. I assume we would just never phase out the .h files unlike the rolling branch in which we can remove them in L-Turtle. I would be able to add this "backport" later today if that's something we agree on.

Also there already seems to be some consensus in the other core repositories:

Deprecating tf2 C Headers ros-perception/perception_pcl#469

we should create backwards compatibilty headers that emit compile warnings so users have time to migrate to the new headers.

Deprecating tf2 C Headers ros-controls/ros2_controllers#1325

Can you add conditioning in the code so that from rolling on it uses the .hpp, and in the prior versions it uses the .h version?

CursedRock17 · 2024-10-30T04:28:00Z

The following pull requests are the "backports" that will prevent gross include macros with the formulating of .hpp files for ROS' non-EOL distributions. Do I need to go back any further, or will these be alright for now?

Timple · 2024-10-30T06:58:58Z

Iron I guess?

Signed-off-by: CursedRock17 <[email protected]> Iron Backport of ros2#720 Signed-off-by: CursedRock17 <[email protected]>

clalancette

There is one major change I'd like to see in this PR, and that is to not make the linting updates to the tf2/include/tf2/LinearMath headers. While I think we may eventually want to do this, for now I think it will be easier to track provenance without doing that.

Once that is fixed, and we run CI on this and the downstream PRs, I think we can get this in.

Signed-off-by: CursedRock17 <[email protected]>

CursedRock17 · 2024-11-05T20:25:59Z

Changes have been implemented, that being said was it not just easier to do this now opposed to later, especially when naming conventions are going to be mixed?
Also I'll begin making necessary changes downstream.

clalancette · 2024-11-05T20:31:56Z

Changes have been implemented, that being said was it not just easier to do this now opposed to later, especially when naming conventions are going to be mixed?
Also I'll begin making necessary changes downstream.

No, sorry, that's not what I meant. I meant leave the .hpp files, but do not do things like remove the trailing whitespace.

CursedRock17 · 2024-11-05T20:33:37Z

Ohhh, I was quite confused lol, I will be reverting the changes in addition to the whitespace changes.

This reverts commit 62879df.

Ryanf55 · 2024-11-06T01:18:33Z

Iron I guess?

Can you do humble if it's not too much work?

Signed-off-by: Lucas Wendland <[email protected]> Linter Matrix3x3.hpp Signed-off-by: Lucas Wendland <[email protected]> Linter MinMax.h Signed-off-by: Lucas Wendland <[email protected]> Linter MinMax.hpp Signed-off-by: Lucas Wendland <[email protected]> Linter QuadWord.h Signed-off-by: Lucas Wendland <[email protected]> Linter QuadWord.hpp Signed-off-by: Lucas Wendland <[email protected]> Linter Quaternion.h Signed-off-by: Lucas Wendland <[email protected]> Linter Quaternion.hpp Signed-off-by: Lucas Wendland <[email protected]> Linter Scalar.h Signed-off-by: Lucas Wendland <[email protected]> Linter Scalar.hpp Signed-off-by: Lucas Wendland <[email protected]> Linter Transform.h Signed-off-by: Lucas Wendland <[email protected]> Linter Transform.hpp Signed-off-by: Lucas Wendland <[email protected]> Linter Vector3.h Signed-off-by: Lucas Wendland <[email protected]> Linter Vector3.hpp Signed-off-by: Lucas Wendland <[email protected]>

clalancette

All right, one more relatively small thing to fix, then I think this will be ready for CI.

clalancette · 2024-11-06T13:28:05Z

tf2/include/tf2/visibility_control.h

This particular file is actually C code, and mostly internal, so I think we do not need to rename this. That is, keep just this file as visibility_control.h.

Signed-off-by: CursedRock17 <[email protected]> Visibility Controls utils.hpp Signed-off-by: Lucas Wendland <[email protected]> Visibility Controls convert.hpp Signed-off-by: Lucas Wendland <[email protected]> Visibility Controls Quaternion.hpp Signed-off-by: Lucas Wendland <[email protected]> Visibility Controls Vector3.hpp Signed-off-by: Lucas Wendland <[email protected]> Visibility Controls QuadWord.hpp Signed-off-by: Lucas Wendland <[email protected]> Visibility Controls Transform.hpp Signed-off-by: Lucas Wendland <[email protected]> Visibility Controls exceptions.hpp Signed-off-by: Lucas Wendland <[email protected]> Visibility Controls time_cache.hpp Signed-off-by: Lucas Wendland <[email protected]> Visibility Controls transform_storage.hpp Signed-off-by: Lucas Wendland <[email protected]> Update time.hpp Signed-off-by: Lucas Wendland <[email protected]> Update buffer_core.hpp Signed-off-by: Lucas Wendland <[email protected]> Update buffer_core_interface.hpp Signed-off-by: Lucas Wendland <[email protected]>

CursedRock17 · 2024-11-06T13:57:13Z

When I get back to my workstation later today, I can roll these improvements (whitespacing & visibility_control) onto the other branches I adjusted for the backport.

clalancette · 2024-11-06T14:06:50Z

Pulls: #720, ros2/rviz#1289, ros-perception/laser_geometry#98
Gist: https://gist.githubusercontent.com/clalancette/b83127091186f2489c09c4c787585861/raw/3c16fd56b4d645d09b9cadf800da79cbfd1acbaf/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14792

Linux
Linux-aarch64
Linux-rhel
Windows

clalancette · 2024-11-06T16:26:50Z

So there are at least two problems here:

We need a PR to interactive_markers to deal with the change.
Windows doesn't seem to like the #warning construct, so we may have to do something special for Windows there. Maybe something like https://github.com/ros2/common_interfaces/blob/473511f5807610bb8ed7744dfd2986dba4601fa6/sensor_msgs/include/sensor_msgs/point_cloud_conversion.hpp#L41-L49

CursedRock17 added 2 commits October 26, 2024 01:55

Deprecating C Headers

5fa084c

Signed-off-by: CursedRock17 <[email protected]>

Tunning header guards

43857b1

Signed-off-by: CursedRock17 <[email protected]>

CursedRock17 requested review from ahcorde and clalancette as code owners October 26, 2024 06:25

Fixing header order

4d67a64

Signed-off-by: CursedRock17 <[email protected]>

CursedRock17 mentioned this pull request Oct 28, 2024

Fix Deprecated tf2 headers ros2/rviz#1289

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ahcorde requested changes Oct 28, 2024

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Fixing Copyrighting

6288ba5

Signed-off-by: CursedRock17 <[email protected]>

This was referenced Oct 30, 2024

Humble "Backport" of #720 #722

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Jazzy "Backport" of #720 #723

Open

CursedRock17 added a commit to CursedRock17/geometry2 that referenced this pull request Oct 31, 2024

Iron Backport of ros2#720

04e7636

Signed-off-by: CursedRock17 <[email protected]> Iron Backport of ros2#720 Signed-off-by: CursedRock17 <[email protected]>

CursedRock17 mentioned this pull request Oct 31, 2024

Iron Backport of #720 #724

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clalancette requested changes Nov 5, 2024

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Removing LinearMath C++ Header

62879df

Signed-off-by: CursedRock17 <[email protected]>

Revert "Removing LinearMath C++ Header"

177de4d

This reverts commit 62879df.

CursedRock17 force-pushed the deprecate_c_headers branch from 030c916 to 3a21ba2 Compare November 6, 2024 02:03

clalancette requested changes Nov 6, 2024

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CursedRock17 force-pushed the deprecate_c_headers branch from 5937a81 to 7193c0a Compare November 6, 2024 13:38

CursedRock17 force-pushed the deprecate_c_headers branch from 564ff99 to f390cce Compare November 6, 2024 13:46

CursedRock17 mentioned this pull request Nov 7, 2024

Deprecating tf2 C Headers ros-visualization/interactive_markers#109

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Deprecate C Headers #720

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