[misc] Remove deprecated code 2022-09 (RobotLocomotion#17813)

mqnc · Sep 2, 2022 · 7daf84d · 7daf84d
1 parent b5cfb10
commit 7daf84d
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Showing 27 changed files with 9 additions and 1,670 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -108,9 +108,8 @@ endif()
 
 # The minimum compiler versions should match those listed in both
 # doc/_pages/from_source.md and tools/workspace/cc/repository.bzl.
-# TODO(jwnimmer-tri) Set MINIMUM_CLANG_VERSION=12 on 2022-09-01.
 set(MINIMUM_APPLE_CLANG_VERSION 12)
-set(MINIMUM_CLANG_VERSION 9)
+set(MINIMUM_CLANG_VERSION 12)
 set(MINIMUM_GNU_VERSION 9.3)
 
 if(CMAKE_C_COMPILER_ID STREQUAL AppleClang)

diff --git a/bindings/pydrake/BUILD.bazel b/bindings/pydrake/BUILD.bazel
@@ -250,7 +250,6 @@ drake_pybind_library(
     cc_deps = [
         ":symbolic_types_pybind",
         "//bindings/pydrake:documentation_pybind",
-        "//bindings/pydrake/common:deprecation_pybind",
         "//bindings/pydrake/common:eigen_pybind",
     ],
     cc_srcs = [
@@ -262,7 +261,6 @@ drake_pybind_library(
     py_deps = [
         ":module_py",
         "//bindings/pydrake/common:compatibility_py",
-        "//bindings/pydrake/common:deprecation_py",
     ],
     py_srcs = ["_symbolic_extra.py"],
 )

diff --git a/bindings/pydrake/common/BUILD.bazel b/bindings/pydrake/common/BUILD.bazel
@@ -48,7 +48,6 @@ drake_pybind_library(
     cc_deps = [
         "//bindings/pydrake:autodiff_types_pybind",
         "//bindings/pydrake:documentation_pybind",
-        "//bindings/pydrake/common:deprecation_pybind",
         "//bindings/pydrake/common:value_pybind",
         "//common:nice_type_name_override_header",
     ],

diff --git a/bindings/pydrake/common/module_py.cc b/bindings/pydrake/common/module_py.cc
@@ -3,7 +3,6 @@
 #include "pybind11/stl.h"
 
 #include "drake/bindings/pydrake/autodiff_types_pybind.h"
-#include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/common/text_logging_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
@@ -104,16 +103,6 @@ PYBIND11_MODULE(_module_py, m) {
   // Python users should not touch the C++ level; thus, we bind this privately.
   m.def("_set_log_level", &logging::set_log_level, py::arg("level"),
       doc.logging.set_log_level.doc);
-  {
-    const char* doc_deprecated =
-        "Deprecated:\n"
-        "    Do not use ``pydrake.common.set_log_level(...)``.\n"
-        "    Instead, use ``logging.getLogger('drake').setLevel(...)``.\n"
-        "    This function will be removed from Drake on or after 2022-09-01";
-    m.def("set_log_level",
-        WrapDeprecated(doc_deprecated, &logging::set_log_level),
-        py::arg("level"), doc_deprecated);
-  }
 
   internal::MaybeRedirectPythonLogging();
 

diff --git a/bindings/pydrake/common/test/module_test.py b/bindings/pydrake/common/test/module_test.py
@@ -54,9 +54,8 @@ def test_random_distribution(self):
 
     def test_logging(self):
         self.assertTrue(mut._module_py._HAVE_SPDLOG)
-        with catch_drake_warnings(expected_count=1) as w:
-            self.assertIsInstance(
-                mut.set_log_level(level="unchanged"), str)
+        self.assertIsInstance(
+            mut._set_log_level(level="unchanged"), str)
 
     def test_random_generator(self):
         g1 = mut.RandomGenerator()

diff --git a/bindings/pydrake/solvers/BUILD.bazel b/bindings/pydrake/solvers/BUILD.bazel
@@ -46,7 +46,6 @@ drake_pybind_library(
         "//bindings/pydrake:symbolic_types_pybind",
         "//bindings/pydrake/common:cpp_param_pybind",
         "//bindings/pydrake/common:cpp_template_pybind",
-        "//bindings/pydrake/common:deprecation_pybind",
         "//bindings/pydrake/common:eigen_pybind",
         "//bindings/pydrake/common:value_pybind",
     ],

diff --git a/bindings/pydrake/solvers/solvers_py_csdp.cc b/bindings/pydrake/solvers/solvers_py_csdp.cc
@@ -1,7 +1,6 @@
 #include "pybind11/eigen.h"
 #include "pybind11/pybind11.h"
 
-#include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/common/value_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
@@ -23,13 +22,6 @@ void DefineSolversCsdp(py::module m) {
   csdp_cls.def(py::init<>(), doc.CsdpSolver.ctor.doc)
       .def_static("id", &CsdpSolver::id, doc.CsdpSolver.id.doc);
 
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  csdp_cls.def(py_init_deprecated<CsdpSolver, RemoveFreeVariableMethod>(
-                   doc.CsdpSolver.ctor.doc_deprecated),
-      py::arg("method"), doc.CsdpSolver.ctor.doc_deprecated);
-#pragma GCC diagnostic pop
-
   py::class_<CsdpSolverDetails>(
       m, "CsdpSolverDetails", doc.CsdpSolverDetails.doc)
       .def_readonly("return_code", &CsdpSolverDetails::return_code,

diff --git a/bindings/pydrake/solvers/test/augmented_lagrangian_test.py b/bindings/pydrake/solvers/test/augmented_lagrangian_test.py
@@ -7,8 +7,6 @@
 from pydrake.solvers import augmented_lagrangian as al
 from pydrake.autodiffutils import InitializeAutoDiff, AutoDiffXd
 
-from pydrake.common.test_utilities.deprecation import catch_drake_warnings
-
 
 class TestAugmentedLagrangian(unittest.TestCase):
     def setUp(self):

diff --git a/bindings/pydrake/solvers/test/csdp_solver_test.py b/bindings/pydrake/solvers/test/csdp_solver_test.py
@@ -6,7 +6,6 @@
 from pydrake.solvers import mathematicalprogram as mp
 from pydrake.solvers.csdp import CsdpSolver
 import pydrake.solvers.sdpa_free_format as sdpa_free_format
-from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 
 
 class TestCsdpSolver(unittest.TestCase):
@@ -66,10 +65,6 @@ def test_csdp_solver(self):
             sdpa_free_format.RemoveFreeVariableMethod.kLorentzConeSlack)
         result = solver.Solve(prog, None, solver_options)
         self.assertTrue(result.is_success())
-        with catch_drake_warnings(expected_count=1):
-            CsdpSolver(
-                method=sdpa_free_format.RemoveFreeVariableMethod.
-                kLorentzConeSlack)
 
     def unavailable(self):
         """Per the BUILD file, this test is only run when CSDP is disabled."""

diff --git a/bindings/pydrake/symbolic_py.cc b/bindings/pydrake/symbolic_py.cc
@@ -8,7 +8,6 @@
 #include "pybind11/pybind11.h"
 #include "pybind11/stl.h"
 
-#include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/common/eigen_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
@@ -996,14 +995,6 @@ PYBIND11_MODULE(symbolic, m) {
       .def(py::self == py::self)
       .def(py::self != py::self);
 
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  polynomial_cls.def("EqualToAfterExpansion",
-      WrapDeprecated(doc.Polynomial.EqualToAfterExpansion.doc_deprecated,
-          &Polynomial::EqualToAfterExpansion),
-      doc.Polynomial.EqualToAfterExpansion.doc_deprecated);
-#pragma GCC diagnostic pop
-
   m.def(
       "Evaluate",
       [](const MatrixX<Polynomial>& M, const Environment::map& env) {

diff --git a/bindings/pydrake/systems/BUILD.bazel b/bindings/pydrake/systems/BUILD.bazel
@@ -246,22 +246,6 @@ drake_py_unittest(
     ],
 )
 
-drake_py_library(
-    name = "meshcat_visualizer_py",
-    srcs = ["meshcat_visualizer.py"],
-    imports = PACKAGE_INFO.py_imports,
-    deps = [
-        ":framework_py",
-        ":module_py",
-        ":rendering_py",
-        "//bindings/pydrake:geometry_py",
-        "//bindings/pydrake:lcm_py",
-        "//bindings/pydrake:math_py",
-        "//bindings/pydrake/common:eigen_geometry_py",
-        "@meshcat_python//:meshcat_sans_deprecation_warning",
-    ],
-)
-
 drake_py_library(
     name = "jupyter_widgets_py",
     srcs = ["jupyter_widgets.py"],
@@ -333,7 +317,6 @@ PY_LIBRARIES = [
     ":_resample_interp1d_py",
     ":drawing_py",
     ":jupyter_widgets_py",
-    ":meshcat_visualizer_py",
     ":scalar_conversion_py",
     ":module_py",
     ":perception_py",
@@ -490,33 +473,6 @@ drake_py_unittest(
     ],
 )
 
-drake_py_unittest(
-    name = "meshcat_visualizer_test",
-    data = [
-        "//examples/kuka_iiwa_arm:models",
-        "//examples/multibody/cart_pole:models",
-        "//examples/quadrotor:models",
-        "//geometry/render:test_models",
-        "//manipulation/models/allegro_hand_description:models",
-        "//manipulation/models/iiwa_description:models",
-    ],
-    # Defects related to ZMQ when run under DRD or Helgrind.
-    tags = [
-        "no_drd",
-        "no_helgrind",
-    ],
-    deps = [
-        ":analysis_py",
-        ":framework_py",
-        ":meshcat_visualizer_py",
-        ":test_util_py",
-        "//bindings/pydrake:geometry_py",
-        "//bindings/pydrake:perception_py",
-        "//bindings/pydrake/common/test_utilities",
-        "//bindings/pydrake/multibody",
-    ],
-)
-
 drake_py_unittest(
     name = "perception_test",
     deps = [