Use central macro definition for deprecation suppression

Author: urfeex

include/ur_client_library/helpers.h

@@ -66,6 +66,34 @@ static inline int sched_get_priority_max(int policy)
 
 #endif  // _WIN32
 
+/*!
+ * \file
+ * \brief Portable helpers to temporarily silence deprecation diagnostics.
+ *
+ * Use \ref URCL_SILENCE_DEPRECATED_BEGIN before and \ref URCL_SILENCE_DEPRECATED_END after the
+ * code that must call deprecated APIs (e.g. deprecated library methods implemented for backward
+ * compatibility). Expands to nothing on unsupported compilers.
+ *
+ * Example:
+ * \code
+ * URCL_SILENCE_DEPRECATED_BEGIN
+ * legacy_call();
+ * URCL_SILENCE_DEPRECATED_END
+ * \endcode
+ */
+
+#if defined(_MSC_VER)
+#  define URCL_SILENCE_DEPRECATED_BEGIN __pragma(warning(push)) __pragma(warning(disable : 4996))
+#  define URCL_SILENCE_DEPRECATED_END __pragma(warning(pop))
+#elif defined(__GNUC__)
+#  define URCL_SILENCE_DEPRECATED_BEGIN                                                                                \
+    _Pragma("GCC diagnostic push") _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+#  define URCL_SILENCE_DEPRECATED_END _Pragma("GCC diagnostic pop")
+#else
+#  define URCL_SILENCE_DEPRECATED_BEGIN
+#  define URCL_SILENCE_DEPRECATED_END
+#endif
+
 namespace urcl
 {
 bool setFiFoScheduling(pthread_t& thread, const int priority);

src/control/motion_primitives.cpp

@@ -28,13 +28,13 @@
 // POSSIBILITY OF SUCH DAMAGE.
 // -- END LICENSE BLOCK ------------------------------------------------
 
+#include <ur_client_library/helpers.h>
 #include <ur_client_library/control/motion_primitives.h>
 #include <ur_client_library/log.h>
 
 namespace urcl::control
 {
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+URCL_SILENCE_DEPRECATED_BEGIN
 
 bool MotionPrimitive::validate() const
 {
@@ -164,7 +164,6 @@ void MoveJPrimitive::setTarget(const MotionTarget& target)
         if constexpr (std::is_same_v<T, urcl::Pose>)
         {
           type = MotionType::MOVEJ_POSE;
-
           target_joint_configuration.fill(0);
         }
         else if constexpr (std::is_same_v<T, Q>)
@@ -426,6 +425,7 @@ void OptimoveLPrimitive::setTarget(const MotionTarget& target)
       },
       target);
 }
-#pragma GCC diagnostic pop
+
+URCL_SILENCE_DEPRECATED_END
 
 }  // namespace urcl::control

src/ur/ur_driver.cpp

@@ -35,7 +35,6 @@
 #include "ur_client_library/rtde/rtde_client.h"
 #include "ur_client_library/control/script_reader.h"
 #include "ur_client_library/exceptions.h"
-#include "ur_client_library/helpers.h"
 #include "ur_client_library/primary/primary_parser.h"
 #include "ur_client_library/helpers.h"
 #include <memory>
@@ -188,13 +187,7 @@ void UrDriver::init(const UrDriverConfiguration& config)
   URCL_LOG_DEBUG("Initialization done");
 }
 
-#ifdef __GNUC__
-#  pragma GCC diagnostic push
-#  pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#elif defined(_MSC_VER)
-#  pragma warning(push)
-#  pragma warning(disable : 4996)
-#endif
+URCL_SILENCE_DEPRECATED_BEGIN
 std::unique_ptr<rtde_interface::DataPackage> urcl::UrDriver::getDataPackage()
 {
   // This can take one of two values, 0ms or 100ms. The large timeout is for when the robot is commanding the control
@@ -204,11 +197,7 @@ std::unique_ptr<rtde_interface::DataPackage> urcl::UrDriver::getDataPackage()
 
   return rtde_client_->getDataPackage(timeout);
 }
-#ifdef __GNUC__
-#  pragma GCC diagnostic pop
-#elif defined(_MSC_VER)
-#  pragma warning(pop)
-#endif
+URCL_SILENCE_DEPRECATED_END
 
 bool UrDriver::getDataPackage(rtde_interface::DataPackage& data_package)
 {
@@ -708,20 +697,10 @@ void UrDriver::setKeepaliveCount(const uint32_t count)
                 "set the "
                 "read timeout in the write commands directly. This keepalive count will overwrite the timeout passed "
                 "to the write functions.");
-// TODO: Remove 2027-05
-#ifdef _MSC_VER
-#  pragma warning(push)
-#  pragma warning(disable : 4996)
-#else
-#  pragma GCC diagnostic push
-#  pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
+  // TODO: Remove 2027-05
+  URCL_SILENCE_DEPRECATED_BEGIN
   reverse_interface_->setKeepaliveCount(count);
-#ifdef _MSC_VER
-#  pragma warning(pop)
-#else
-#  pragma GCC diagnostic pop
-#endif
+  URCL_SILENCE_DEPRECATED_END
 }
 
 void UrDriver::resetRTDEClient(const std::vector<std::string>& output_recipe,

tests/test_primary_client.cpp

@@ -103,10 +103,9 @@ TEST_F(PrimaryClientTest, start_communication_succeeds)
 
 TEST_F(PrimaryClientTest, add_and_remove_consumer)
 {
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+  URCL_SILENCE_DEPRECATED_BEGIN
   auto calibration_consumer = std::make_shared<urcl::CalibrationChecker>("test");
-#pragma GCC diagnostic pop
+  URCL_SILENCE_DEPRECATED_END
 
   client_->addPrimaryConsumer(calibration_consumer);
 

tests/test_reverse_interface.cpp

@@ -33,6 +33,7 @@
 #include <ur_client_library/control/reverse_interface.h>
 #include <ur_client_library/comm/tcp_socket.h>
 #include <ur_client_library/exceptions.h>
+#include "ur_client_library/helpers.h"
 #include "ur_client_library/log.h"
 
 using namespace urcl;
@@ -484,19 +485,9 @@ TEST_F(ReverseInterfaceTest, deprecated_set_keep_alive_count)
 
   // Test that it works to set the keepalive count using the deprecated function
   int keep_alive_count = 10;
-#ifdef _MSC_VER
-#  pragma warning(push)
-#  pragma warning(disable : 4996)
-#else
-#  pragma GCC diagnostic push
-#  pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
+  URCL_SILENCE_DEPRECATED_BEGIN
   reverse_interface_->setKeepaliveCount(keep_alive_count);
-#ifdef _MSC_VER
-#  pragma warning(pop)
-#else
-#  pragma GCC diagnostic pop
-#endif
+  URCL_SILENCE_DEPRECATED_END
   int32_t expected_read_timeout = 20 * keep_alive_count;
 
   urcl::vector6d_t pos = { 0, 0, 0, 0, 0, 0 };

tests/test_rtde_client.cpp

@@ -37,12 +37,12 @@
 #include <iostream>
 #include "ur_client_library/comm/tcp_server.h"
 #include "ur_client_library/exceptions.h"
+#include "ur_client_library/helpers.h"
 
 #include <ur_client_library/rtde/rtde_client.h>
 #include <ur_client_library/ur/version_information.h>
 
 #include "fake_rtde_server.h"
-#include "ur_client_library/helpers.h"
 #include "ur_client_library/log.h"
 
 using namespace urcl;
@@ -301,10 +301,9 @@ TEST_F(RTDEClientTest, get_data_package_w_background_deprecated)
 
   // Test that we can receive a package and extract data from the received package
   const std::chrono::milliseconds read_timeout{ 100 };
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+  URCL_SILENCE_DEPRECATED_BEGIN
   std::unique_ptr<rtde_interface::DataPackage> data_pkg = client_->getDataPackage(read_timeout);
-#pragma GCC diagnostic pop
+  URCL_SILENCE_DEPRECATED_END
   if (data_pkg == nullptr)
   {
     std::cout << "Failed to get data package from robot" << std::endl;

tests/test_rtde_parser.cpp

@@ -271,19 +271,9 @@ TEST(rtde_parser, test_deprecated_parse_method)
   std::vector<std::unique_ptr<rtde_interface::RTDEPackage>> products;
   {
     comm::BinParser bp(raw_data, sizeof(raw_data));
-#ifdef __GNUC__
-#  pragma GCC diagnostic push
-#  pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#elif defined(_MSC_VER)
-#  pragma warning(push)
-#  pragma warning(disable : 4996)
-#endif
+    URCL_SILENCE_DEPRECATED_BEGIN
     parser.parse(bp, products);
-#ifdef __GNUC__
-#  pragma GCC diagnostic pop
-#elif defined(_MSC_VER)
-#  pragma warning(pop)
-#endif
+    URCL_SILENCE_DEPRECATED_END
   }
 
   EXPECT_EQ(products.size(), 1);

tests/test_tcp_socket.cpp

@@ -34,13 +34,6 @@
 #include <cstddef>
 #include "test_utils.h"
 
-// This file adds a test for a deprecated function. To avoid a compiler warning in CI (where we want
-// to treat warnings as errors) we suppress the warning inside this file.
-#ifdef _MSC_VER
-#  pragma warning(disable : 4996)
-#else
-#  pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
 #include <ur_client_library/comm/tcp_socket.h>
 #include <ur_client_library/comm/tcp_server.h>
 #include "ur_client_library/types.h"
@@ -302,7 +295,9 @@ TEST_F(TCPSocketTest, connect_non_running_robot)
 
 TEST_F(TCPSocketTest, test_deprecated_reconnection_time_interface)
 {
+  URCL_SILENCE_DEPRECATED_BEGIN
   client_->setReconnectionTime(std::chrono::milliseconds(100));
+  URCL_SILENCE_DEPRECATED_END
   EXPECT_TRUE(client_->setup(2));
 }
 

tests/test_ur_driver.cpp

@@ -125,10 +125,9 @@ class UrDriverTest : public ::testing::Test
 TEST_F(UrDriverTest, read_non_existing_script_file)
 {
   const std::string non_existing_script_file = "";
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+  URCL_SILENCE_DEPRECATED_BEGIN
   EXPECT_THROW(UrDriver::readScriptFile(non_existing_script_file), UrException);
-#pragma GCC diagnostic pop
+  URCL_SILENCE_DEPRECATED_END
 }
 
 TEST_F(UrDriverTest, read_existing_script_file)
@@ -145,11 +144,9 @@ TEST_F(UrDriverTest, read_existing_script_file)
     std::cout << "Failed to create temporary files" << std::endl;
     GTEST_FAIL();
   }
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+  URCL_SILENCE_DEPRECATED_BEGIN
   EXPECT_NO_THROW(UrDriver::readScriptFile(existing_script_file));
-#pragma GCC diagnostic pop
-
+  URCL_SILENCE_DEPRECATED_END
   // clean up
   ofs.close();
   std::remove(existing_script_file);