Replace deprecated tbb task for tbb >= 2021 #3174

traversaro · 2022-02-13T17:03:32Z

I took the great work of @alexdewar in #3146 and:

Rebased on top of current gazebo11 branch
Changed the logic to make sure that there are no changes if tbb < 2021, so that it can be merged without any problem to Debian/Ubuntu packaging.

Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

As tbb::task has been removed in oneTBB 2021.01, we need to replace its use with oneapi::tbb::task_group. Define a wrapper so that tbb::task_group is used for newer versions of oneTBB. Fixes gazebosim#2867. Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

@scpeters

Suggested by @scpeters. Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

@scpeters

Suggested by @scpeters. Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

In any case, this check wasn't actually halting the build in the case that tbb>=2021. Instead, find_package() is used (as it is if tbb.pc isn't present). Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

The CI is currently failing and this could be a possible problem.

Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

As tbb/version.h is seemingly not present before v2021.01, it cannot be used to get the definition for TBB_VERSION_MAJOR, so let's use the main tbb.h header which is present on all versions. Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

traversaro · 2022-02-14T07:26:53Z

Marked as wip as there are still failures in the tbb==2021 build.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters

thanks for taking this on! I've tested it on macOS with homebrew and noticed some linking and compilation problems. I have an idea for some fixes:

a99a224 fix linking problems
6b0d230 fix compilation problems with more #undef emit

I am seeing compilation failures of the test/integration/transport.cc test and haven't figure out how to fix those

In file included from /Users/scpeters/clone/gazebo/test/integration/transport.cc:21:
In file included from /Users/scpeters/clone/gazebo/gazebo/test/ServerFixture.hh:44:
In file included from /Users/scpeters/clone/gazebo/build/gazebo/transport/transport.hh:3:
In file included from /Users/scpeters/clone/gazebo/gazebo/transport/Connection.hh:54:
In file included from /Users/scpeters/clone/gazebo/gazebo/transport/TaskGroup.hh:24:
In file included from /usr/local/include/tbb/tbb.h:17:
In file included from /usr/local/include/tbb/../oneapi/tbb.h:51:
In file included from /usr/local/include/oneapi/tbb/flow_graph.h:167:
In file included from /usr/local/include/tbb/../oneapi/tbb/detail/_flow_graph_impl.h:22:
/usr/local/include/oneapi/tbb/task_group.h:135:9: error: no matching function for call to object of type 'const gazebo::transport::PublishTask'
        std::forward<F>(f)();
        ^~~~~~~~~~~~~~~~~~
/usr/local/include/oneapi/tbb/task_group.h:466:25: note: in instantiation of function template specialization 'tbb::detail::d2::(anonymous
      namespace)::task_ptr_or_nullptr<const gazebo::transport::PublishTask &>' requested here
        task* res = d2::task_ptr_or_nullptr(m_func);
                        ^
/usr/local/include/oneapi/tbb/task_group.h:480:5: note: in instantiation of member function
      'tbb::detail::d1::function_task<gazebo::transport::PublishTask>::execute' requested here
    function_task(F&& f, wait_context& wo, small_object_allocator& alloc)
    ^
/usr/local/include/tbb/../oneapi/tbb/detail/_small_object_pool.h:63:57: note: in instantiation of member function
      'tbb::detail::d1::function_task<gazebo::transport::PublishTask>::function_task' requested here
        auto constructed_object = new(allocated_object) Type(std::forward<Args>(args)...);
                                                        ^
/usr/local/include/oneapi/tbb/task_group.h:553:22: note: in instantiation of function template specialization
      'tbb::detail::d1::small_object_allocator::new_object<tbb::detail::d1::function_task<gazebo::transport::PublishTask>, gazebo::transport::PublishTask,
      tbb::detail::d1::wait_context &, tbb::detail::d1::small_object_allocator &>' requested here
        return alloc.new_object<function_task<typename std::decay<F>::type>>(std::forward<F>(f), m_wait_ctx, alloc);
                     ^
/usr/local/include/oneapi/tbb/task_group.h:629:16: note: in instantiation of function template specialization
      'tbb::detail::d1::task_group_base::prepare_task<gazebo::transport::PublishTask>' requested here
        spawn(*prepare_task(std::forward<F>(f)), context());
               ^
/Users/scpeters/clone/gazebo/gazebo/transport/TaskGroup.hh:41:25: note: in instantiation of function template specialization
      'tbb::detail::d1::task_group::run<gazebo::transport::PublishTask>' requested here
        this->taskGroup.run(Functor(std::forward<Args>(args)...));
                        ^
/Users/scpeters/clone/gazebo/gazebo/transport/Node.hh:193:33: note: in instantiation of function template specialization
      'gazebo::transport::TaskGroup::run<gazebo::transport::PublishTask, boost::shared_ptr<gazebo::transport::Publisher> &, const google::protobuf::Message &>'
      requested here
                this->taskGroup.run<PublishTask>(pub, _message);
                                ^
/Users/scpeters/clone/gazebo/gazebo/transport/TransportIface.hh:146:13: note: in instantiation of function template specialization
      'gazebo::transport::Node::Publish<gazebo::msgs::Scene>' requested here
      node->Publish<M>(_topic, _message);
            ^
/Users/scpeters/clone/gazebo/test/integration/transport.cc:172:14: note: in instantiation of function template specialization
      'gazebo::transport::publish<gazebo::msgs::Scene>' requested here
  transport::publish<msgs::Scene>("~/scene", msg);
             ^
/Users/scpeters/clone/gazebo/gazebo/transport/Node.hh:75:20: note: candidate function not viable: 'this' argument has type
      'const gazebo::transport::PublishTask', but method is not marked const
      public: void operator()()
                   ^
1 error generated.
make[3]: *** [test/integration/CMakeFiles/INTEGRATION_transport.dir/transport.cc.o] Error 1

gazebo/transport/Node.hh

traversaro · 2022-02-15T08:58:40Z

Thanks @scpeters . By using the earlier patch by @alexdewar we just noticed some downstream linking failure: conda-forge/gazebo-feedstock#121 , so probably yet another thing to do is to add tbb libraries in GAZEBO_LIBRARIES if tbb > 2021 is used.

traversaro · 2022-02-15T08:59:22Z

(By the way @scpeters feel free to push directly on the branch of the PR)

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters · 2022-02-15T09:27:33Z

(By the way @scpeters feel free to push directly on the branch of the PR)

ok, I have done so :)

I believe we will need to revert gazebo-tooling/release-tools#465 and gazebo-tooling/release-tools#466 and osrf/homebrew-simulation#1479 and osrf/homebrew-simulation#1483 before homebrew CI will use the new tbb

traversaro · 2022-02-15T10:25:50Z

gazebo/transport/Node.hh

 #include <tbb/task.h>
+#define emit


I was a bit afraid of doing so as it changes also the case tbb<2021. Do you think that defining emit as empty is ok?

@traversaro emit is actually defined by Qt as empty too! It's just convention that it's used in Qt code as a pseudo-keyword.

I hadn't thought clearly about the implications; I was just trying to get to a working build. We can wrap in #ifdefs if needed

@scpeters Yes but that shouldn't be necessary. As I said, qt just defines it as an empty macro too.

traversaro · 2022-02-15T17:11:11Z

@scpeters I cleaned up TaskGroup.hh as in this new style it is only used for tbb>=2021 6903800

traversaro · 2022-02-15T17:26:31Z

Thanks @scpeters . By using the earlier patch by @alexdewar we just noticed some downstream linking failure: conda-forge/gazebo-feedstock#121 , so probably yet another thing to do is to add tbb libraries in GAZEBO_LIBRARIES if tbb > 2021 is used.

Done in 73db7c7 .

gazebo/transport/TaskGroup.hh

traversaro · 2022-02-17T17:57:13Z

I have reached the same failure of @scpeters but on Linux/conda:

(gazebobuild) traversaro@IITICUBLAP257:~/gazebo/build$ ninja -j1
[241/429] Building CXX object test/integration/CMakeFiles/INTEGRATION_transport.dir/transport.cc.o
FAILED: test/integration/CMakeFiles/INTEGRATION_transport.dir/transport.cc.o
/home/traversaro/mambaforge/envs/gazebobuild/bin/x86_64-conda-linux-gnu-c++ -DBOOST_ALL_NO_LIB -DBOOST_DATE_TIME_DYN_LINK -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_IOSTREAMS_DYN_LINK -DBOOST_PROGRAM_OPTIONS_DYN_LINK -DBOOST_REGEX_DYN_LINK -DBOOST_SYSTEM_DYN_LINK -DBOOST_TEST_DYN_LINK -DBOOST_THREAD_DYN_LINK -DHAVE_OPENGL -DIGN_PROFILER_ENABLE=0 -DLIBBULLET_VERSION=3.20 -DLIBBULLET_VERSION_GT_282 -DTINYXML2_IMPORT -DdIDEDOUBLE -I/home/traversaro/gazebo/build/test/integration/INTEGRATION_transport_autogen/include -I/home/traversaro/gazebo/test/gtest/include -I/home/traversaro/gazebo -I/home/traversaro/gazebo/build -I/home/traversaro/gazebo/test/gtest -I/home/traversaro/gazebo/test -I/home/traversaro/mambaforge/envs/gazebobuild/include/libusb-1.0 -I/home/traversaro/mambaforge/envs/gazebobuild/include/OGRE/RTShaderSystem -I/home/traversaro/mambaforge/envs/gazebobuild/include/OGRE -I/home/traversaro/mambaforge/envs/gazebobuild/include/OGRE/Terrain -I/home/traversaro/mambaforge/envs/gazebobuild/include/OGRE/Paging -I/home/traversaro/mambaforge/envs/gazebobuild/include/OGRE/Overlay -I/home/traversaro/mambaforge/envs/gazebobuild/include/sdformat-9.3 -isystem /home/traversaro/mambaforge/envs/gazebobuild/include/ignition/msgs5 -isystem /home/traversaro/mambaforge/envs/gazebobuild/include/ignition/math6 -isystem /home/traversaro/mambaforge/envs/gazebobuild/include/ignition/transport8 -isystem /home/traversaro/mambaforge/envs/gazebobuild/include/ignition/common3 -isystem /home/traversaro/mambaforge/envs/gazebobuild/include/ignition/fuel_tools4 -isystem /home/traversaro/mambaforge/envs/gazebobuild/include/bullet -isystem /home/traversaro/mambaforge/envs/gazebobuild/include/uuid -isystem /home/traversaro/mambaforge/envs/gazebobuild/include/sdformat-9.3/sdf/.. -isystem /home/traversaro/mambaforge/envs/gazebobuild/include/ignition/cmake2 -isystem /home/traversaro/mambaforge/envs/gazebobuild/include/eigen3 -isystem /home/traversaro/mambaforge/envs/gazebobuild/include/simbody -fvisibility-inlines-hidden -std=c++17 -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/traversaro/mambaforge/envs/gazebobuild/include       -Wall -Wextra -Wno-long-long -Wno-unused-value -Wfloat-equal -Wshadow -Wswitch-default -Wmissing-include-dirs -pedantic -fvisibility=hidden -fvisibility-inlines-hidden   -g -O2 -mssse3 -msse3 -mfpmath=sse -msse -msse2    -fPIC -I/home/traversaro/mambaforge/envs/gazebobuild/include/uuid -MD -MT test/integration/CMakeFiles/INTEGRATION_transport.dir/transport.cc.o -MF test/integration/CMakeFiles/INTEGRATION_transport.dir/transport.cc.o.d -o test/integration/CMakeFiles/INTEGRATION_transport.dir/transport.cc.o -c /home/traversaro/gazebo/test/integration/transport.cc
In file included from /home/traversaro/mambaforge/envs/gazebobuild/include/OGRE/Terrain/OgreTerrainMaterialGeneratorA.h:33,
                 from /home/traversaro/gazebo/gazebo/rendering/ogre_gazebo.h:62,
                 from /home/traversaro/gazebo/gazebo/rendering/Conversions.hh:25,
                 from /home/traversaro/gazebo/gazebo/rendering/Camera.hh:47,
                 from /home/traversaro/gazebo/build/gazebo/rendering/rendering.hh:5,
                 from /home/traversaro/gazebo/gazebo/test/ServerFixture.hh:53,
                 from /home/traversaro/gazebo/test/integration/transport.cc:21:
/home/traversaro/mambaforge/envs/gazebobuild/include/OGRE/Terrain/OgreTerrainMaterialGenerator.h: In member function 'Ogre::TerrainMaterialGenerator::Profile* Ogre::TerrainMaterialGenerator::getActiveProfile() const':
/home/traversaro/mambaforge/envs/gazebobuild/include/OGRE/Terrain/OgreTerrainMaterialGenerator.h:250: note: '-Wmisleading-indentation' is disabled from this point onwards, since column-tracking was disabled due to the size of the code/headers
  250 |             return mActiveProfile;
      |
In file included from /home/traversaro/mambaforge/envs/gazebobuild/include/oneapi/tbb/detail/_flow_graph_impl.h:22,
                 from /home/traversaro/mambaforge/envs/gazebobuild/include/oneapi/tbb/flow_graph.h:167,
                 from /home/traversaro/mambaforge/envs/gazebobuild/include/oneapi/tbb.h:51,
                 from /home/traversaro/mambaforge/envs/gazebobuild/include/tbb/tbb.h:17,
                 from /home/traversaro/gazebo/gazebo/transport/TaskGroup.hh:24,
                 from /home/traversaro/gazebo/gazebo/transport/Connection.hh:54,
                 from /home/traversaro/gazebo/build/gazebo/transport/transport.hh:3,
                 from /home/traversaro/gazebo/gazebo/test/ServerFixture.hh:44,
                 from /home/traversaro/gazebo/test/integration/transport.cc:21:
/home/traversaro/mambaforge/envs/gazebobuild/include/oneapi/tbb/task_group.h: In instantiation of 'tbb::detail::d1::task* tbb::detail::d2::{anonymous}::task_ptr_or_nullptr(F&&) [with F = const gazebo::transport::PublishTask&]':
/home/traversaro/mambaforge/envs/gazebobuild/include/oneapi/tbb/task_group.h:466:44:   required from 'tbb::detail::d1::task* tbb::detail::d1::function_task<F>::execute(tbb::detail::d1::execution_data&) [with F = gazebo::transport::PublishTask]'
/home/traversaro/mambaforge/envs/gazebobuild/include/oneapi/tbb/task_group.h:465:11:   required from here
/home/traversaro/mambaforge/envs/gazebobuild/include/oneapi/tbb/task_group.h:135:27: error: no match for call to '(const gazebo::transport::PublishTask) ()'
  135 |         std::forward<F>(f)();
      |         ~~~~~~~~~~~~~~~~~~^~
In file included from /home/traversaro/gazebo/build/gazebo/transport/transport.hh:6,
                 from /home/traversaro/gazebo/gazebo/test/ServerFixture.hh:44,
                 from /home/traversaro/gazebo/test/integration/transport.cc:21:
/home/traversaro/gazebo/gazebo/transport/Node.hh:75:20: note: candidate: 'void gazebo::transport::PublishTask::operator()()' <near match>
   75 |       public: void operator()()
      |                    ^~~~~~~~
/home/traversaro/gazebo/gazebo/transport/Node.hh:75:20: note:   passing 'const gazebo::transport::PublishTask*' as 'this' argument discards qualifiers
ninja: build stopped: subcommand failed.

traversaro · 2022-03-03T22:21:49Z

@traversaro is there anything holding up this PR?

edit also linking to the original issue: #2867

Not on my side, I just forgot to update the title.

scpeters · 2022-03-04T01:45:45Z

sorry for the delay in reviewing this. I just tested the latest changes and it appears to build well on my Mac laptop, which is great! I will need to adjust the build scripts to make the homebrew CI run properly, but that will be straightforward. The last issue is our windows CI, which is using a very old version of tbb (2014) has a strange error. If it's not obvious how to fix the error, we can try using a newer version of tbb

Don't set tbb@2020_u3 variables if github branch name matches replace_deprecated_tbb_task, which allows testing of gazebosim/gazebo-classic#3174. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters · 2022-03-04T08:02:55Z

The last issue is our windows CI, which is using a very old version of tbb (2014) has a strange error. If it's not obvious how to fix the error, we can try using a newer version of tbb

tbb43_20141023oss\include\tbb\concurrent_unordered_map.h(48):
 error C2039: 'binary_function': is not a member of 'std'

binary_function was removed in c++11. Perhaps we do need a newer version of tbb

traversaro · 2022-03-04T09:56:44Z

The last issue is our windows CI, which is using a very old version of tbb (2014) has a strange error. If it's not obvious how to fix the error, we can try using a newer version of tbb
tbb43_20141023oss\include\tbb\concurrent_unordered_map.h(48):
 error C2039: 'binary_function': is not a member of 'std'
binary_function was removed in c++11. Perhaps we do need a newer version of tbb

Probably not a short term solution as it like I can help in setting up a conda-based Windows CI of Gazebo. I think this was already planned by @j-rivero, but I do not know if he was planning to have it on GitHub Actions or on Jenkins (or anythinge else). If you like I can start sketching it on GitHub Actions, while if in on some other system probably we would need to coordinate a bit.

scpeters · 2022-03-04T18:27:00Z

Probably not a short term solution as it like I can help in setting up a conda-based Windows CI of Gazebo. I think this was already planned by @j-rivero, but I do not know if he was planning to have it on GitHub Actions or on Jenkins (or anythinge else). If you like I can start sketching it on GitHub Actions, while if in on some other system probably we would need to coordinate a bit.

that would be wonderful if you could start sketching an approach using GitHub Actions! A key feature of testing on our own machines is running tests that require a GPU, but we are not running many tests at the moment in these windows builds, so I think a GitHub Actions workflow that tests compilation and even limited testing would match our current CI.

I think the ogre version might be a challenge depending on which version is in use from conda

scpeters · 2022-03-06T07:38:53Z

can you please merge this branch with gazebo11?

traversaro · 2022-03-06T17:49:34Z

can you please merge this branch with gazebo11?

Done in 4fff786 .
As soon as the CI job finishes, I will also remove the pinning of tbb to 2020 to actually test the compilation of tbb>=2021.

traversaro · 2022-03-08T23:51:12Z

can you please merge this branch with gazebo11?

Done in 4fff786 . As soon as the CI job finishes, I will also remove the pinning of tbb to 2020 to actually test the compilation of tbb>=2021.

Even after unpinning tbb-devel, the compilation works fine.

The builds are failing due to an old version of tbb in the zipped dependency archive. See gazebosim/gazebo-classic#3174 for more information. Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters · 2022-03-14T17:19:31Z

actually I may have a fix for the windows build in #3157

@LilyWangLL

* [tbb] Update to 2021.3.0 * [tbb] Add Threads dependency * [pagmo2] Update to support new TBB * [openvdb] Update to 8.1.0 * [embree2] Remove from baseline -- it is no longer receiving support from upstream * [usd] Mark as unsupported * [usd] Disable USD in CI due to policy PixarAnimationStudios/OpenUSD#1600 * [openvdb] Bump port-version * Update version database * [pagmo2] Fix vcpkg.json * update version * wip update * versions * [embree2] deprecate, [openvdb,usd] resolve conflicts, [tbb] update * Added libxml port. * Remove port version as it's initial port. * Added baseline version * Support only for windows and static * Allowed building debug version * update versions * Update ports/libxpm/portfile.cmake Co-authored-by: Thomas1664 <46387399+Thomas1664@users.noreply.github.com> * Added new lines * Update ports/libxpm/vcpkg.json Co-authored-by: Thomas1664 <46387399+Thomas1664@users.noreply.github.com> * Update ports/libxpm/portfile.cmake Co-authored-by: Thomas1664 <46387399+Thomas1664@users.noreply.github.com> * Update ports/libxpm/vcpkg.json Co-authored-by: Thomas1664 <46387399+Thomas1664@users.noreply.github.com> * Regenerated versions * Update ports/libxpm/vcpkg.json Co-authored-by: JonLiu1993 <63675417+JonLiu1993@users.noreply.github.com> * Libxpm is taken from gitlab now. * Dropped changes against master in original repo for libxpm. * Dropped libxpm from baseline * Dropped version for libxpm * Update cpuinfo * Updated date of version * Update version database * Removed support for arm32 & uwp as library is not supporting it. * Version regenerated * Update ports/cpuinfo/vcpkg.json Co-authored-by: Alexander Neumann <30894796+Neumann-A@users.noreply.github.com> * Updated versions * Initial commit WIP * Fixed compilation of latest stable version * Dropped comments * Switch from version-string to version * Added versions * Fixed path of cmake files for other projects * Updated versions * Various modernization. * Fully mark embree2 as deprecated. * [pagmo2] Disable -Werror * [cctag] Fix finding and use of TBB. * [openvdb] Baseline the static versions because they exceed FFFFFFFF in size, and I'm not sure if that's fixable.... * [gazebo] Apply gazebosim/gazebo-classic#3174 patch to fix TBB. * Respond to failures in https://dev.azure.com/vcpkg/public/_build/results?buildId=76586 * [pagmo2] Add license. See https://github.com/esa/pagmo2/blob/19d774fbb6128124305225803f8c1ad9e2f95c8c/src/bfe.cpp#L5-L27 * [tbb] Add license. * [embree2] Add "license". * [tbb] Use vcpkg_cmake_config_fixup and fix version as requested by @LilyWangLL * [usd] Add usd is known broken message. * [embree2] Remove completely. * Fix version database. * Fix usd version database. * Fix wrong case on Linux. * Lowercase the tbb directory to get to their configs. * [cctag] minimize patches * [tbb] Apply supports expression fix suggested in #26284 (comment) * [usd] Add note about upstream issue. * [pagmo2] Minimize patch. Co-authored-by: Robert Schumacher <roschuma@microsoft.com> Co-authored-by: Jonliu1993 <13720414433@163.com> Co-authored-by: Mathis Logemann <mathisloge@gmail.com> Co-authored-by: Victor Romero <viromer@microsoft.com> Co-authored-by: Vladimír Aubrecht <vladimir.aubrecht@me.com> Co-authored-by: Thomas1664 <46387399+Thomas1664@users.noreply.github.com> Co-authored-by: JonLiu1993 <63675417+JonLiu1993@users.noreply.github.com> Co-authored-by: Alexander Neumann <30894796+Neumann-A@users.noreply.github.com>

alexdewar and others added 13 commits February 11, 2022 19:27

Fix typo

b8b5650

Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

Remove TopicManagerProcessTask as it is unused

f216564

Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

Assign my copyright to OSRF

fdbab59

Suggested by @scpeters. Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

Add myself to AUTHORS

c42bfe8

Suggested by @scpeters. Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

We no longer need to restrict ourselves to tbb<2021

7a7fe64

In any case, this check wasn't actually halting the build in the case that tbb>=2021. Instead, find_package() is used (as it is if tbb.pc isn't present). Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

Default to using tbb::task for older versions of TBB, to maintain ABI

0c4b54f

Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

Remove C++14-ism from TaskGroup.hh

309194b

The CI is currently failing and this could be a possible problem.

Use C++ macros cf. CMakery to find TBB version

a9e9aed

Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

Replace use of tbb/version.h with tbb/tbb.h

d89a2b0

As tbb/version.h is seemingly not present before v2021.01, it cannot be used to get the definition for TBB_VERSION_MAJOR, so let's use the main tbb.h header which is present on all versions. Signed-off-by: Alex Dewar <alex.dewar@gmx.co.uk>

Make sure that there are no ABI changes for tbb < 2021

212cf5e

Fix indentation

568bf9b

Update transport_pch.hh

45f24b3

traversaro changed the title ~~Replace deprecated tbb task for tbb >= 2021 while keeping ABI unchanged for tbb < 2021~~ [WIP] Replace deprecated tbb task for tbb >= 2021 while keeping ABI unchanged for tbb < 2021 Feb 14, 2022

scpeters added 2 commits February 14, 2022 22:00

Fix linking problems

a99a224

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Undef more emit symboles for tbb includes

6b0d230

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters reviewed Feb 15, 2022

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gazebo/transport/Node.hh Outdated Show resolved Hide resolved

Remove trailing whitespace

bf5240a

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

traversaro commented Feb 15, 2022

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Cleanup TAskGroup as it is used only if tbb>=2021

6903800

If tbb >= 2021 add TBB::tbb to GAZEBO_LIBRARIES for downstream users

73db7c7

Fix CMake configuration failure with tbb 2020

d32ae31

scpeters reviewed Feb 17, 2022

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gazebo/transport/TaskGroup.hh Outdated Show resolved Hide resolved

traversaro changed the title ~~[WIP] Replace deprecated tbb task for tbb >= 2021 while keeping ABI unchanged for tbb < 2021~~ Replace deprecated tbb task for tbb >= 2021 while keeping ABI unchanged for tbb < 2021 Mar 3, 2022

scpeters mentioned this pull request Mar 4, 2022

brew: test fix for new tbb with gazebo gazebo-tooling/release-tools#652

Merged

traversaro mentioned this pull request Mar 4, 2022

Add CI for compiling gazebo with conda-forge dependencies #3186

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Merge branch 'gazebo11' into replace_deprecated_tbb_task

4fff786

Unpin tbb-devel

8f739f2

scpeters changed the title ~~Replace deprecated tbb task for tbb >= 2021 while keeping ABI unchanged for tbb < 2021~~ Replace deprecated tbb task for tbb >= 2021 Mar 10, 2022

scpeters mentioned this pull request Mar 10, 2022

gazebo.dsl: disable windows builds gazebo-tooling/release-tools#659

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scpeters approved these changes Mar 10, 2022

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scpeters merged commit ea95601 into gazebosim:gazebo11 Mar 10, 2022

scpeters mentioned this pull request Mar 10, 2022

gazebo11: use new tbb and recent patch osrf/homebrew-simulation#1826

Merged

This was referenced Mar 14, 2022

Fix windows build, more portable check_test_ran.py #3157

Merged

Prepare for 11.10.2 release #3193

Merged

traversaro mentioned this pull request Mar 19, 2022

gazebo v11.10.2 conda-forge/gazebo-feedstock#124

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3 tasks

traversaro mentioned this pull request Apr 7, 2022

Fix typo in the check for whether the TBB target exists in gazebo-config.cmake.in #3207

Merged

traversaro mentioned this pull request Apr 25, 2022

Combination Ubuntu Jammy / ROS Rolling have undefined tbb symbols ros-simulation/gazebo_ros_pkgs#1372

Closed

scpeters mentioned this pull request May 24, 2022

Replace use of tbb::task with oneapi::tbb::task_group, where available #3146

Closed

BillyONeal added a commit to BillyONeal/vcpkg that referenced this pull request Aug 16, 2022

[gazebo] Apply gazebosim/gazebo-classic#3174 patch to fix TBB.

6e1bb7a

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Replace deprecated tbb task for tbb >= 2021 #3174

Replace deprecated tbb task for tbb >= 2021 #3174

traversaro commented Feb 13, 2022 •

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Replace deprecated tbb task for tbb >= 2021 #3174

Replace deprecated tbb task for tbb >= 2021 #3174

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