Enable compilation of part that depend on sdformat and dartsim on Windows

.ci_support/win_64_.yaml

@@ -1,8 +1,10 @@
+c_compiler:
+- vs2019
 channel_sources:
 - conda-forge,defaults
 channel_targets:
 - conda-forge main
+cxx_compiler:
+- vs2019
 target_platform:
 - win-64
-vc:
-- '14'

conda-forge.yml

@@ -1,2 +1,6 @@
+azure:
+  settings_win:
+    pool:
+      vmImage: windows-2019
 conda_forge_output_validation: true
 provider: {linux_aarch64: default, linux_ppc64le: default}

recipe/148.patch

@@ -0,0 +1,152 @@
+From 5c97660320a8a365c82d62279b76b8f5682c5258 Mon Sep 17 00:00:00 2001
+From: Steve Peters <scpeters@openrobotics.org>
+Date: Wed, 7 Oct 2020 12:25:25 -0700
+Subject: [PATCH 1/2] dartsim-plugin windows build fixes
+
+* Build dartsim and test plugins with /permissive- with MSVC
+  due to https://github.com/dartsim/dart/issues/753
+
+* Disable C4250 compiler warnings.
+
+* Create unversioned dartsim plugin by copy rather than
+  symlink, since symlinks require extra permissions on
+  Windows. This copies the TPE approach.
+
+Signed-off-by: Steve Peters <scpeters@openrobotics.org>
+---
+ dartsim/CMakeLists.txt      | 16 ++++++++++++----
+ test/plugins/CMakeLists.txt |  6 ++++++
+ tpe/plugin/CMakeLists.txt   |  2 +-
+ 3 files changed, 19 insertions(+), 5 deletions(-)
+
+diff --git a/dartsim/CMakeLists.txt b/dartsim/CMakeLists.txt
+index 22bad22a..ca8a11cf 100644
+--- a/dartsim/CMakeLists.txt
++++ b/dartsim/CMakeLists.txt
+@@ -7,6 +7,10 @@ ign_add_component(dartsim INTERFACE
+
+ target_link_libraries(${features} INTERFACE ${DART_LIBRARIES})
+ target_include_directories(${features} SYSTEM INTERFACE ${DART_INCLUDE_DIRS})
++if (MSVC)
++  # needed by DART, see https://github.com/dartsim/dart/issues/753
++  target_compile_options(${features} INTERFACE "/permissive-")
++endif()
+
+ install(
+   DIRECTORY include/
+@@ -42,11 +46,15 @@ install(TARGETS ${dartsim_plugin} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_
+ set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${dartsim_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
+ set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
+ if (WIN32)
+-  # create_symlink requires cmake 3.13 on windows
+-  cmake_minimum_required(VERSION 3.13 FATAL_ERROR)
++  # disable MSVC inherit via dominance warning
++  target_compile_options(${dartsim_plugin} PUBLIC "/wd4250")
++  INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy
++      ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned}
++      ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
++else()
++  EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
++  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR})
+ endif()
+-EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
+-INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR})
+
+ # Testing
+ ign_build_tests(
+diff --git a/test/plugins/CMakeLists.txt b/test/plugins/CMakeLists.txt
+index fa1a58a6..2358746d 100644
+--- a/test/plugins/CMakeLists.txt
++++ b/test/plugins/CMakeLists.txt
+@@ -24,4 +24,10 @@ if (DART_FOUND)
+   target_link_libraries(MockDoublePendulum PUBLIC ${DART_LIBRARIES})
+   target_compile_definitions(MockDoublePendulum PRIVATE
+     "IGNITION_PHYSICS_RESOURCE_DIR=\"${IGNITION_PHYSICS_RESOURCE_DIR}\"")
++  if (MSVC)
++    # needed by DART, see https://github.com/dartsim/dart/issues/753
++    target_compile_options(MockDoublePendulum PUBLIC "/permissive-")
++    # disable MSVC inherit via dominance warning
++    target_compile_options(MockDoublePendulum PUBLIC "/wd4250")
++  endif()
+ endif()
+diff --git a/tpe/plugin/CMakeLists.txt b/tpe/plugin/CMakeLists.txt
+index 9aebeb84..b4bdf790 100644
+--- a/tpe/plugin/CMakeLists.txt
++++ b/tpe/plugin/CMakeLists.txt
+@@ -43,7 +43,7 @@ if (WIN32)
+   # disable MSVC inherit via dominance warning
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4250")
+   INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy
+-      ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned} 
++      ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned}
+       ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
+ else()
+   EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
+
+From 7482167d1d21d549a08ec0ab0ef1dc0a13dd9508 Mon Sep 17 00:00:00 2001
+From: Steve Peters <scpeters@openrobotics.org>
+Date: Thu, 15 Oct 2020 16:52:46 -0700
+Subject: [PATCH 2/2] check_test_ran.py: windows compatibility
+
+Signed-off-by: Steve Peters <scpeters@openrobotics.org>
+---
+ tools/check_test_ran.py | 32 --------------------------------
+ 1 file changed, 32 deletions(-)
+
+diff --git a/tools/check_test_ran.py b/tools/check_test_ran.py
+index a6d87e6c..48169343 100755
+--- a/tools/check_test_ran.py
++++ b/tools/check_test_ran.py
+@@ -44,7 +44,6 @@
+
+ import os
+ import sys
+-import subprocess
+
+ def usage():
+     print("""Usage:
+@@ -53,29 +52,6 @@ def usage():
+     print(sys.argv)
+     sys.exit(getattr(os, 'EX_USAGE', 1))
+
+-def run_grep(filename, arg):
+-    process = subprocess.Popen(['grep', arg, filename], stdout=subprocess.PIPE)
+-    stdout, stderr = process.communicate()
+-    return stdout, stderr
+-
+-def run_xsltproc(stylesheet, document):
+-    try:
+-        process = subprocess.Popen(['xsltproc', stylesheet, document], stdout=subprocess.PIPE)
+-        stdout, stderr = process.communicate()
+-        # Overwrite same document
+-        open(document, 'w').write(stdout)
+-    except OSError as err:
+-        test_name = os.path.basename(document)
+-        f = open(document, 'w')
+-        d = {'test': test_name, 'test_file': document, 'test_no_xml': test_name.replace('.xml', '')}
+-        f.write("""<?xml version="1.0" encoding="UTF-8"?>
+-<testsuite tests="1" failures="1" time="1" errors="0" name="%(test)s">
+-  <testcase name="test_ran" status="run" time="1" classname="%(test_no_xml)s">
+-    <failure message="Unable to find xsltproc. Can not parse output test for QTest suite." type=""/>
+-  </testcase>
+-</testsuite>"""%d)
+-        sys.exit(getattr(os, 'EX_USAGE', 1))
+-
+ def check_main():
+     if len(sys.argv) < 2:
+         usage()
+@@ -98,14 +74,6 @@ def check_main():
+     <failure message="Unable to find test results for %(test)s, test did not run.\nExpected results in %(test_file)s" type=""/>
+   </testcase>
+ </testsuite>"""%d)
+-        sys.exit(getattr(os, 'EX_USAGE', 1))
+-
+-    # Checking if test is a QTest file
+-    stdout, stderr = run_grep(test_file, "QtVersion")
+-    if (stdout):
+-        print("Detect QTest xml file. Converting to JUNIT ...")
+-        stylesheet = os.path.dirname(os.path.abspath(__file__)) + "/qtest_to_junit.xslt"
+-        run_xsltproc(stylesheet, test_file)
+
+ if __name__ == '__main__':
+     check_main()