Cleanup deprecations

realtime_tools/include/realtime_tools/realtime_publisher.hpp

@@ -119,22 +119,6 @@ class RealtimePublisher
     updated_cond_.notify_one();  // So the publishing loop can exit
   }
 
-  /**
-  * \brief Try to acquire the data lock for non-realtime message publishing
-  *
-  * It first checks if the current state allows non-realtime message publishing (turn_ == REALTIME)
-  * and then attempts to lock
-  *
-  * \return true if the lock was successfully acquired, false otherwise
-  */
-  [[deprecated(
-    "Use try_publish() method instead of this method. This method may be removed in future "
-    "versions.")]]
-  bool trylock()
-  {
-    return turn_.load(std::memory_order_acquire) == State::REALTIME && msg_mutex_.try_lock();
-  }
-
   /**
    * \brief Check if the realtime publisher is in a state to publish messages
    * \return true if the publisher is in a state to publish messages
@@ -170,71 +154,6 @@ class RealtimePublisher
     return false;
   }
 
-  /**
-   * \brief Try to publish the given message (deprecated)
-   * \deprecated This method is deprecated and should be replaced with try_publish()
-   *
-   * This method is deprecated and should be replaced with try_publish().
-   * It attempts to publish the given message if the publisher is in a state to do so.
-   * It uses a try_lock to avoid blocking if the mutex is already held by another thread.
-   *
-   * \param [in] msg The message to publish
-   * \return true if the message was successfully published, false otherwise
-   */
-  [[deprecated(
-    "Use try_publish() method instead of this method. This method may be removed in future "
-    "versions.")]]
-  bool tryPublish(const MessageT & msg)
-  {
-    return try_publish(msg);
-  }
-
-  /**
-   * \brief Unlock the msg_ variable for the non-realtime thread to start publishing
-   *
-   * After a successful trylock and after the data is written to the mgs_
-   * variable, the lock has to be released for the message to get
-   * published on the specified topic.
-   */
-  [[deprecated(
-    "Use the try_publish() method to publish the message instead of using this method. This method "
-    "may be removed in future versions.")]]
-  void unlockAndPublish()
-  {
-    turn_.store(State::NON_REALTIME, std::memory_order_release);
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-    unlock();
-#pragma GCC diagnostic pop
-  }
-
-  /**
-   * \brief Acquire the data lock
-   *
-   * This blocking call acquires exclusive access to the msg_ variable.
-   * Use trylock() for non-blocking attempts to acquire the lock.
-   */
-  [[deprecated(
-    "Use the try_publish() method to publish the message instead of using this method. This method "
-    "may be removed in future versions.")]]
-  void lock()
-  {
-    msg_mutex_.lock();
-  }
-
-  /**
-   * \brief Unlocks the data without publishing anything
-   *
-   */
-  [[deprecated(
-    "Use the try_publish() method to publish the message instead of using this method. This method "
-    "may be removed in future versions.")]]
-  void unlock()
-  {
-    msg_mutex_.unlock();
-    updated_cond_.notify_one();
-  }
-
   std::thread & get_thread() { return thread_; }
 
   const std::thread & get_thread() const { return thread_; }

realtime_tools/test/realtime_publisher_tests.cpp

@@ -54,86 +54,6 @@ struct StringCallback
   }
 };
 
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-TEST(RealtimePublisher, rt_publish_legacy)
-{
-  rclcpp::init(0, nullptr);
-  const size_t ATTEMPTS = 10;
-  const std::chrono::milliseconds DELAY(250);
-
-  const char * expected_msg = "Hello World";
-  auto node = std::make_shared<rclcpp::Node>("construct_move_destruct");
-  rclcpp::QoS qos(10);
-  qos.reliable().transient_local();
-  auto pub = node->create_publisher<StringMsg>("~/rt_publish", qos);
-  RealtimePublisher<StringMsg> rt_pub(pub);
-  // publish a latched message
-  bool lock_is_held = rt_pub.trylock();
-  for (size_t i = 0; i < ATTEMPTS && !lock_is_held; ++i) {
-    lock_is_held = rt_pub.trylock();
-    std::this_thread::sleep_for(DELAY);
-  }
-  ASSERT_TRUE(lock_is_held);
-  rt_pub.msg_.string_value = expected_msg;
-  rt_pub.unlockAndPublish();
-
-  // make sure subscriber gets it
-  StringCallback str_callback;
-
-  auto sub = node->create_subscription<StringMsg>(
-    "~/rt_publish", qos,
-    std::bind(&StringCallback::callback, &str_callback, std::placeholders::_1));
-  for (size_t i = 0; i < ATTEMPTS && str_callback.msg_.string_value.empty(); ++i) {
-    rclcpp::spin_some(node);
-    std::this_thread::sleep_for(DELAY);
-  }
-  EXPECT_STREQ(expected_msg, str_callback.msg_.string_value.c_str());
-  rclcpp::shutdown();
-}
-
-TEST(RealtimePublisher, rt_try_publish_legacy)
-{
-  rclcpp::init(0, nullptr);
-  const size_t ATTEMPTS = 10;
-  const std::chrono::milliseconds DELAY(250);
-
-  const char * expected_msg = "Hello World";
-  auto node = std::make_shared<rclcpp::Node>("construct_move_destruct");
-  rclcpp::QoS qos(10);
-  qos.reliable().transient_local();
-  auto pub = node->create_publisher<StringMsg>("~/rt_publish", qos);
-  RealtimePublisher<StringMsg> rt_pub(pub);
-
-  // try publish a latched message
-  bool publish_success = false;
-  for (std::size_t i = 0; i < ATTEMPTS; ++i) {
-    StringMsg msg;
-    msg.string_value = expected_msg;
-
-    if (rt_pub.tryPublish(msg)) {
-      publish_success = true;
-      break;
-    }
-    std::this_thread::sleep_for(DELAY);
-  }
-  ASSERT_TRUE(publish_success);
-
-  // make sure subscriber gets it
-  StringCallback str_callback;
-
-  auto sub = node->create_subscription<StringMsg>(
-    "~/rt_publish", qos,
-    std::bind(&StringCallback::callback, &str_callback, std::placeholders::_1));
-  for (size_t i = 0; i < ATTEMPTS && str_callback.msg_.string_value.empty(); ++i) {
-    rclcpp::spin_some(node);
-    std::this_thread::sleep_for(DELAY);
-  }
-  EXPECT_STREQ(expected_msg, str_callback.msg_.string_value.c_str());
-  rclcpp::shutdown();
-}
-#pragma GCC diagnostic pop
-
 TEST(RealtimePublisher, rt_can_try_publish)
 {
   rclcpp::init(0, nullptr);