Remove deprecated mju_{error,warning}_{i,s} functions.

PiperOrigin-RevId: 925204136
Change-Id: Ia877d08a135092db8037d04e6a237e81325a1d7c

doc/APIreference/functions.rst

@@ -1980,24 +1980,6 @@ Error and memory
 
 Main error function; does not return to caller.
 
-.. _mju_error_i:
-
-`mju_error_i <#mju_error_i>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_error_i
-
-Deprecated: use mju_error.
-
-.. _mju_error_s:
-
-`mju_error_s <#mju_error_s>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_error_s
-
-Deprecated: use mju_error.
-
 .. _mju_warning:
 
 `mju_warning <#mju_warning>`__
@@ -2007,24 +1989,6 @@ Deprecated: use mju_error.
 
 Main warning function; returns to caller.
 
-.. _mju_warning_i:
-
-`mju_warning_i <#mju_warning_i>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_warning_i
-
-Deprecated: use mju_warning.
-
-.. _mju_warning_s:
-
-`mju_warning_s <#mju_warning_s>`__
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mju_warning_s
-
-Deprecated: use mju_warning.
-
 .. _mju_clearHandlers:
 
 `mju_clearHandlers <#mju_clearHandlers>`__

doc/changelog.rst

@@ -21,16 +21,14 @@ General
      :class: attention
 
      - The header file ``mjthread.h`` was removed along with the old engine threading API.
-
+       |br| **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
-       **Migration:** Use :ref:`mju_threadpool` to set number of worker threads for the engine.
-
      - Moved island sparse matrix construction from :ref:`mj_island` (single threaded) into :ref:`mj_fwdConstraint`
        (multi-threaded). The island-specific matrices ``iM, iLD, iefc_J`` were removed from the arena and are now
        allocated on the stack.
-
      - Following the introduction of the :ref:`diagexact<option-flag-diagexact>` flag, the ``mjData`` field
        ``efc_diagApprox`` was renamed to ``efc_diagA``, as it can now be either the exact or approximate diagonal of
        the :math:`A` ("Delassus") matrix.
+     - The deprecated functions ``mju_{error,warning}_{i,s}`` have been removed.
 
 Bug fixes
 ^^^^^^^^^
@@ -2145,7 +2143,7 @@ General
    <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid100.xml>`__ model, which previously
    required ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
 #. Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The
-   functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated.
+   functions ``mju_error_i``, ``mju_error_s``, ``mju_warning_i``, and ``mju_warning_s`` are now deprecated.
 #. Implemented a performant ``mju_sqrMatTDSparse`` function that doesn't require dense memory allocation.
 #. Added ``mj_stackAllocInt`` to get correct size for allocating ints on mjData stack. Reducing stack memory usage
    by 10% - 15%.

doc/includes/references.h

@@ -3457,11 +3457,7 @@ void mjui_update(int section, int item, const mjUI* ui,
 mjuiItem* mjui_event(mjUI* ui, mjuiState* state, const mjrContext* con);
 void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
 void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
-void mju_error_i(const char* msg, int i);
-void mju_error_s(const char* msg, const char* text);
 void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
-void mju_warning_i(const char* msg, int i);
-void mju_warning_s(const char* msg, const char* text);
 void mju_clearHandlers(void);
 void* mju_malloc(size_t size);
 void mju_free(void* ptr);

include/mujoco/mujoco.h

@@ -972,21 +972,9 @@ MJAPI void mjui_render(mjUI* ui, const mjuiState* state, const mjrContext* con);
 // Main error function; does not return to caller.
 MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
 
-// Deprecated: use mju_error.
-MJAPI void mju_error_i(const char* msg, int i);
-
-// Deprecated: use mju_error.
-MJAPI void mju_error_s(const char* msg, const char* text);
-
 // Main warning function; returns to caller.
 MJAPI void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
 
-// Deprecated: use mju_warning.
-MJAPI void mju_warning_i(const char* msg, int i);
-
-// Deprecated: use mju_warning.
-MJAPI void mju_warning_s(const char* msg, const char* text);
-
 // Clear user error and memory handlers.
 MJAPI void mju_clearHandlers(void);
 

python/mujoco/introspect/functions.py

@@ -6288,44 +6288,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Main error function; does not return to caller.',
      )),
-    ('mju_error_i',
-     FunctionDecl(
-         name='mju_error_i',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='msg',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='i',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Deprecated: use mju_error.',
-     )),
-    ('mju_error_s',
-     FunctionDecl(
-         name='mju_error_s',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='msg',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='text',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Deprecated: use mju_error.',
-     )),
     ('mju_warning',
      FunctionDecl(
          name='mju_warning',
@@ -6340,44 +6302,6 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Main warning function; returns to caller.',
      )),
-    ('mju_warning_i',
-     FunctionDecl(
-         name='mju_warning_i',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='msg',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='i',
-                 type=ValueType(name='int'),
-             ),
-         ),
-         doc='Deprecated: use mju_warning.',
-     )),
-    ('mju_warning_s',
-     FunctionDecl(
-         name='mju_warning_s',
-         return_type=ValueType(name='void'),
-         parameters=(
-             FunctionParameterDecl(
-                 name='msg',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-             FunctionParameterDecl(
-                 name='text',
-                 type=PointerType(
-                     inner_type=ValueType(name='char', is_const=True),
-                 ),
-             ),
-         ),
-         doc='Deprecated: use mju_warning.',
-     )),
     ('mju_clearHandlers',
      FunctionDecl(
          name='mju_clearHandlers',

src/engine/engine_util_errmem.c

@@ -169,30 +169,6 @@ void mju_warning(const char* msg, ...) {
 }
 
 
-// error with int argument
-void mju_error_i(const char* msg, int i) {
-  mju_error(msg, i);
-}
-
-
-// warning with int argument
-void mju_warning_i(const char* msg, int i) {
-  mju_warning(msg, i);
-}
-
-
-// error string argument
-void mju_error_s(const char* msg, const char* text) {
-  mju_error(msg, text);
-}
-
-
-// warning string argument
-void mju_warning_s(const char* msg, const char* text) {
-  mju_warning(msg, text);
-}
-
-
 //------------------------------ malloc and free ---------------------------------------------------
 
 // allocate memory; byte-align on 64; pad size to multiple of 64

src/engine/engine_util_errmem.h

@@ -58,13 +58,9 @@ MJAPI void _mjPRIVATE__set_tls_warning_fn(void (*h)(const char*));
 MJAPI void mju_error_raw(const char* msg);
 MJAPI void mju_error(const char* msg, ...) mjPRINTFLIKE(1, 2);
 MJAPI void mju_error_v(const char* msg, va_list args);
-MJAPI void mju_error_i(const char* msg, int i);
-MJAPI void mju_error_s(const char* msg, const char* text);
 
 // warnings
 MJAPI void mju_warning(const char* msg, ...) mjPRINTFLIKE(1, 2);
-MJAPI void mju_warning_i(const char* msg, int i);
-MJAPI void mju_warning_s(const char* msg, const char* text);
 
 // write [datetime, type: message] to MUJOCO_LOG.TXT
 MJAPI void mju_writeLog(const char* type, const char* msg);

test/engine/engine_util_errmem_test.cc

@@ -68,70 +68,6 @@ class MujocoErrorAndWarningTest : public ::testing::Test {
   }
 };
 
-TEST_F(MujocoErrorAndWarningTest, MjuErrorI) {
-  std::string format_string = "%010d";
-  while (format_string.length() < 2 * kBufferSize) {
-    format_string += 'x';
-  }
-
-  std::string expected_message = "0123456789";
-  while (expected_message.length() < kBufferSize - 1) {
-    expected_message += 'x';
-  }
-
-  ClearErrorMessage();
-  mju_error_i(format_string.c_str(), 123456789);
-  EXPECT_EQ(std::string(ErrorMessageBuffer()), expected_message);
-}
-
-TEST_F(MujocoErrorAndWarningTest, MjuWarningI) {
-  std::string format_string = "%010d";
-  while (format_string.length() < 2 * kBufferSize) {
-    format_string += 'x';
-  }
-
-  std::string expected_message = "0123456789";
-  while (expected_message.length() < kBufferSize - 1) {
-    expected_message += 'x';
-  }
-
-  ClearWarningMessage();
-  mju_warning_i(format_string.c_str(), 123456789);
-  EXPECT_EQ(std::string(WarningMessageBuffer()), expected_message);
-}
-
-TEST_F(MujocoErrorAndWarningTest, MjuErrorS) {
-  std::string format_string = "% 9s";
-  while (format_string.length() < 2 * kBufferSize) {
-    format_string += 'z';
-  }
-
-  std::string expected_message = "   foobar";
-  while (expected_message.length() < kBufferSize - 1) {
-    expected_message += 'z';
-  }
-
-  ClearErrorMessage();
-  mju_error_s(format_string.c_str(), "foobar");
-  EXPECT_EQ(std::string(ErrorMessageBuffer()), expected_message);
-}
-
-TEST_F(MujocoErrorAndWarningTest, MjuWarningS) {
-  std::string format_string = "% 9s";
-  while (format_string.length() < 2 * kBufferSize) {
-    format_string += 'z';
-  }
-
-  std::string expected_message = "   foobar";
-  while (expected_message.length() < kBufferSize - 1) {
-    expected_message += 'z';
-  }
-
-  ClearWarningMessage();
-  mju_warning_s(format_string.c_str(), "foobar");
-  EXPECT_EQ(std::string(WarningMessageBuffer()), expected_message);
-}
-
 TEST_F(MujocoErrorAndWarningTest, MjuErrorInternal) {
   ClearErrorMessage();
   mjERROR("foobar %d", 123);

unity/Runtime/Bindings/MjBindings.cs

@@ -7224,21 +7224,9 @@ public static unsafe extern void mjui_render(mjUI_* ui, mjuiState_* state, mjrCo
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mju_error([MarshalAs(UnmanagedType.LPStr)]string msg);
 
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_error_i([MarshalAs(UnmanagedType.LPStr)]string msg, int i);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_error_s([MarshalAs(UnmanagedType.LPStr)]string msg, [MarshalAs(UnmanagedType.LPStr)]string text);
-
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mju_warning([MarshalAs(UnmanagedType.LPStr)]string msg);
 
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_warning_i([MarshalAs(UnmanagedType.LPStr)]string msg, int i);
-
-[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
-public static unsafe extern void mju_warning_s([MarshalAs(UnmanagedType.LPStr)]string msg, [MarshalAs(UnmanagedType.LPStr)]string text);
-
 [DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
 public static unsafe extern void mju_clearHandlers();
 

wasm/codegen/generators/constants.py

@@ -147,14 +147,10 @@ _SKIPPED_MEMORY_FUNCTIONS: tuple[str, ...] = (
     "mju_boxQPmalloc",
     "mju_clearHandlers",
     "mju_error",
-    "mju_error_i",
-    "mju_error_s",
     "mju_free",
     "mju_malloc",
     "mju_strncpy",
     "mju_warning",
-    "mju_warning_i",
-    "mju_warning_s",
     # go/keep-sorted end
 )