Packaging 6.9.3 (#1487)

.appveyor.yml

@@ -2,7 +2,7 @@
 version: "{build}"
 
 image:
-  - Visual Studio 2017
+  - Visual Studio 2019
   # - Ubuntu1604
   # - Ubuntu1804
 
@@ -13,13 +13,13 @@ environment:
   MSVC_DEFAULT_OPTIONS: ON
   CMAKE_TOOLCHAIN_FILE: -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake"
   matrix:
-    - CMAKE_GENERATOR: -G"Visual Studio 15 2017 Win64"
-      CMAKE_TOOLCHAIN: -T"v141"
+    - CMAKE_GENERATOR: -G"Visual Studio 16 2019"
+      CMAKE_TOOLCHAIN: -T"v142"
 
 # build configuration, i.e. Debug, Release, etc.
 configuration:
   - Debug
-  - Release
+  # - Release
 
 # scripts that are called at very beginning, before repo cloning
 init:
@@ -52,8 +52,10 @@ install:
   - cmd: vcpkg install --recurse --triplet %VCPKG_ARCH% assimp boost-system boost-filesystem ccd eigen3 fcl
 
   # install optional dependencies
-  #- vcpkg install --recurse --triplet %VCPKG_ARCH% bullet3 flann freeglut nlopt ode opengl osg tinyxml2 urdfdom
-  #- vcpkg install ipopt:%VCPKG_ARCH%
+  # 'dart-utils' needs tinyxml2 and boost algorithm/lexical-cast
+  #   and also boost-math to resolve a circular dependency with lexical-cast
+  - cmd: vcpkg install --recurse --triplet %VCPKG_ARCH% boost-algorithm boost-lexical-cast boost-math bullet3 freeglut ode opengl tinyxml2
+  #- vcpkg install --recurse --triplet %VCPKG_ARCH% flann ipopt nlopt osg urdfdom
 
   - cmd: vcpkg integrate install
   - cmd: cd "%APPVEYOR_BUILD_FOLDER%"
@@ -63,7 +65,7 @@ install:
   #-------------------------------
   - sh: sudo apt-get update
   - sh: sudo apt-get --yes install build-essential cmake pkg-config git
-  - sh: sudo apt-get --yes install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
+  - sh: sudo apt-get --yes install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-system-dev
   - sh: sudo apt-get --yes install libnlopt-dev coinor-libipopt-dev libbullet-dev libflann-dev libtinyxml2-dev liburdfdom-dev libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev
   - sh: sudo apt-get --yes install clang-format-6.0
 
@@ -76,8 +78,8 @@ build_script:
   # Windows 10
   #------------------
   - cmd: mkdir build && cd build
-  - cmd: cmake %CMAKE_GENERATOR% -DCMAKE_BUILD_TYPE=%configuration% -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" %CMAKE_TOOLCHAIN_FILE% %CMAKE_TOOLCHAIN% ..
-  # - cmd: cmake --build . --target ALL_BUILD --config %configuration% -- /maxcpucount:4 /verbosity:quiet
+  - cmd: cmake %CMAKE_GENERATOR% -A x64 -DCMAKE_BUILD_TYPE=%configuration% -DDART_VERBOSE=ON -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" %CMAKE_TOOLCHAIN_FILE% %CMAKE_TOOLCHAIN% ..
+  # - cmd: cmake --build . --target ALL_BUILD --config %configuration% -- /maxcpucount:4
 
   #-------------------------------
   # Ubuntu 16.04 LTS && 18.04 LTS

.azure-pipelines.yml

@@ -2,101 +2,35 @@
 # Ref: https://docs.microsoft.com/en-us/azure/devops/pipelines
 
 jobs:
-- job: xenial_gcc_release
+- job: xenial_gcc_debug
+  timeoutInMinutes: 120
   pool:
     vmImage: 'ubuntu-16.04'
   variables:
-    OS_NAME: linux
     COMPILER: gcc
-    BUILD_TYPE: Release
+    BUILD_TYPE: Debug
     BUILD_DIR: $(Build.SourcesDirectory)
     DOCKERFILE: Dockerfile.ubuntu-xenial
   steps:
   - template: .ci/azure-pipelines/docker.yml
 
 - job: bionic_gcc_debug
+  timeoutInMinutes: 120
   pool:
     vmImage: 'ubuntu-16.04'
   variables:
-    OS_NAME: linux
     COMPILER: gcc
     BUILD_TYPE: Debug
     BUILD_DIR: $(Build.SourcesDirectory)
     DOCKERFILE: Dockerfile.ubuntu-bionic
   steps:
   - template: .ci/azure-pipelines/docker.yml
 
-- job: bionic_gcc_dartpy_release
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Release
-    BUILD_DARTPY: ON
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-bionic
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-  timeoutInMinutes: 0
-
-- job: disco_gcc_debug
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Debug
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-disco
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-
-- job: disco_gcc_dartpy_release
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Release
-    BUILD_DARTPY: ON
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-disco
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-  timeoutInMinutes: 0
-
-- job: eoan_gcc_debug
+- job: catalina_clang_debug
+  timeoutInMinutes: 120
   pool:
-    vmImage: 'ubuntu-16.04'
+    vmImage: 'macOS-10.15'
   variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Debug
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-eoan
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-
-- job: eoan_gcc_dartpy_release
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Release
-    BUILD_DARTPY: ON
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-eoan
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-  timeoutInMinutes: 0
-
-- job: mojav_clang_debug
-  pool:
-    vmImage: 'macOS-10.14'
-  variables:
-    OS_NAME: osx
     BUILD_TYPE: Debug
     BUILD_DIR: $(Build.SourcesDirectory)
   steps:
@@ -106,54 +40,3 @@ jobs:
   - script: |
       '.ci/script.sh'
     displayName: 'Script'
-
-- job: mojav_clang_dartpy_release
-  pool:
-    vmImage: 'macOS-10.14'
-  variables:
-    OS_NAME: osx
-    BUILD_TYPE: Release
-    BUILD_DARTPY: ON
-    BUILD_DIR: $(Build.SourcesDirectory)
-  steps:
-  - script: |
-      '.ci/install.sh'
-    displayName: 'Install'
-  - script: |
-      '.ci/script.sh'
-    displayName: 'Script'
-
-- job: windows_vs2019_x64
-  pool:
-    vmImage: 'windows-2019'
-  timeoutInMinutes: 0
-  strategy:
-    matrix:
-      # Debug64:
-      #   CONFIGURATION: 'Debug'
-      Release64:
-        CONFIGURATION: 'Release'
-  variables:
-    VCPKG_INSTALL_ROOT: $(Build.SourcesDirectory)\vcpkg
-    VCPKG_ARCH: 'x64-windows'
-    VCPKG_PACKAGES: 'assimp boost-system boost-filesystem ccd eigen3 fcl'
-    BUILD_TOOLSET_VERSION: '142'
-    CMAKE_GENERATOR: 'Visual Studio 16 2019'
-  steps:
-  - script: |
-      git clone -q --depth 1 https://github.com/microsoft/vcpkg.git $(VCPKG_INSTALL_ROOT)
-      $(VCPKG_INSTALL_ROOT)\bootstrap-vcpkg.bat
-    displayName: 'Install vcpkg'
-  - script: |
-      $(VCPKG_INSTALL_ROOT)\vcpkg.exe install --recurse --triplet $(VCPKG_ARCH) $(VCPKG_PACKAGES)
-      $(VCPKG_INSTALL_ROOT)\vcpkg.exe integrate install
-    displayName: 'Install dependencies'
-  - script: |
-      cmake --version
-      mkdir build
-      cd build
-      cmake .. -G "$(CMAKE_GENERATOR)" -A x64 -DCMAKE_BUILD_TYPE=$(CONFIGURATION) -Wno-dev -T "v$(BUILD_TOOLSET_VERSION),host=x64" -DVCPKG_TARGET_TRIPLET=$(VCPKG_ARCH) -DCMAKE_TOOLCHAIN_FILE="$(VCPKG_INSTALL_ROOT)/scripts/buildsystems/vcpkg.cmake" -DCMAKE_INSTALL_PREFIX="$(Build.BinariesDirectory)/$(REPO_NAME)" -DDART_MSVC_DEFAULT_OPTIONS=ON
-      cmake --build . --target ALL_BUILD --config $(CONFIGURATION) -- /maxcpucount:4
-    displayName: 'Build'
-    workingDirectory: '$(Build.SourcesDirectory)'
-

.ci/azure-pipelines/native.yml

@@ -3,8 +3,8 @@ parameters:
 
 steps:
 - script: |
-    ./.ci/install.sh
+    sudo -E ./.ci/install.sh
   displayName: 'Install'
 - script: |
-    ./.ci/script.sh -j${{ parameters.numThreads }}
+    sudo -E ./.ci/script.sh -j${{ parameters.numThreads }}
   displayName: 'Script'

.ci/docker/env.list

@@ -1,6 +1,5 @@
 REPO_SLUG
 IS_PULL_REQUEST
-OS_NAME
 BUILD_DIR
 
 COMPILER
@@ -9,5 +8,5 @@ BUILD_TYPE
 BUILD_DARTPY
 BUILD_DOCS
 CODECOV
-SUDO
+DOCKERFILE
 BUILD_DARTPY

.ci/install.sh

@@ -1,5 +1,8 @@
 #!/usr/bin/env bash
 set -ex
 
-if [ "$OS_NAME" = "linux" ]; then '.ci/install_linux.sh' ; fi
-if [ "$OS_NAME" = "osx"   ]; then '.ci/install_osx.sh'   ; fi
+if [ "${OSTYPE//[0-9.]/}" == "linux-gnu" ]; then
+  '.ci/install_linux.sh'
+elif [ "${OSTYPE//[0-9.]/}" == "darwin"  ]; then
+  '.ci/install_osx.sh'
+fi