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Fix Aspect/Composite-relate tests on Windows/MSVC by marking every class with virtual base with appropriate pragmas #1541

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merged 16 commits into from
Mar 17, 2021

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@traversaro traversaro commented Mar 13, 2021

Fix #1522 .

This fix was inspired by #1540, however just enabling the /vd2 option can change the ABI of classes with virtual base whose implementation has been compiled without the /vd2 option. For this reason, using instead the vtordisp pragmas explicitly for each class of Dart with a virtual base could be a more robust solution.

For some reason, the fix is not working for the Clang-Cl toolset, at least for the version of Visual Studio used in GitHub Actions. I did not investigated this, but in theory clang-cl has support for the vtordisp pragmas (see https://clang.llvm.org/docs/UsersManual.html), but it is possible that this support has some bugs. However, for the time being I just remove the Clang-Cl toolset from the CI jobs, and I instead enabled the unit tests that previously were failing.

erwincoumans and others added 2 commits March 12, 2021 21:47
This fixes a crash on Windows. Confirmed to work in visual studio 2019.
See also dartsim#1431 (comment)
@traversaro traversaro changed the title Check if PR 1540 fix issue 1522 Check if PR 1540 fixes issue 1522 Mar 13, 2021
@traversaro traversaro changed the title Check if PR 1540 fixes issue 1522 Check if PR 1540 (add /vd2 option) fixes issue 1522 Mar 13, 2021
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codecov bot commented Mar 13, 2021

Codecov Report

Merging #1541 (9fece0b) into master (f0ba239) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master    #1541   +/-   ##
=======================================
  Coverage   58.27%   58.27%           
=======================================
  Files         414      414           
  Lines       30077    30077           
=======================================
  Hits        17527    17527           
  Misses      12550    12550           
Impacted Files Coverage Δ
dart/common/Aspect.hpp 100.00% <ø> (ø)
dart/common/Composite.hpp 100.00% <ø> (ø)
dart/common/EmbeddedAspect.hpp 94.44% <ø> (ø)
dart/common/SpecializedForAspect.hpp 100.00% <ø> (ø)
dart/dynamics/BodyNode.hpp 100.00% <ø> (ø)
dart/dynamics/DegreeOfFreedom.hpp 100.00% <ø> (ø)
dart/dynamics/Entity.hpp 100.00% <ø> (ø)
dart/dynamics/FixedFrame.hpp 100.00% <ø> (ø)
dart/dynamics/Frame.hpp 87.50% <ø> (ø)
dart/dynamics/Joint.hpp 66.66% <ø> (ø)
... and 7 more

@traversaro traversaro changed the title Check if PR 1540 (add /vd2 option) fixes issue 1522 Fix test_Aspect unit test on Windows by marking every class with virtual base with appropriate pragmas Mar 13, 2021
@traversaro traversaro changed the title Fix test_Aspect unit test on Windows by marking every class with virtual base with appropriate pragmas Fix Aspect/Composite-relate tests on Windows/MSVC by marking every class with virtual base with appropriate pragmas Mar 13, 2021
@jslee02 jslee02 self-assigned this Mar 13, 2021
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@jslee02 the history is a bit messy, after review let me know if you prefer me to squash it (I would squash it as a single commit, but let me know if you prefer a different division) or you want to squash&merge. The Travis failure seems to be related to being out of credits, and unrelated from this PR.

@traversaro traversaro mentioned this pull request Mar 13, 2021
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This is awesome! Don't worry about the commit history. Let me do Sqaush&merge.

Thanks for the fix @traversaro and @erwincoumans!

dart/common/ClassWithVirtualBase.hpp Outdated Show resolved Hide resolved
dart/common/ClassWithVirtualBase.hpp Outdated Show resolved Hide resolved
Comment on lines +56 to 59
if(NOT MSVC)
dart_add_test("unit" test_VskParser)
target_link_libraries(test_VskParser dart-utils)
endif()
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Don't need to be fixed in this PR, but did you get any hint why test_VskParser doesn't build or pass with MSVC?

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I briefly saw a 0xC0000135 that typically means dll not found, so I guess it could be something related to dll of the dependencies not being in the path or not being copied in the directory with the test executables. In any case, I tried to reduce the modification as possible to have the smallest possible PR to ensure that it could be merged without side-effects.

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Thanks, let me take a look!

traversaro and others added 2 commits March 17, 2021 10:35
Co-authored-by: Jeongseok Lee <jslee02@users.noreply.github.com>
@jslee02 jslee02 merged commit 30ed61d into dartsim:master Mar 17, 2021
@jslee02 jslee02 added this to the DART 6.10.0 milestone Mar 17, 2021
traversaro added a commit to traversaro/dart that referenced this pull request Mar 19, 2021
…ass with virtual base with appropriate pragmas (dartsim#1541)

Co-authored-by: Jeongseok Lee <jslee02@users.noreply.github.com>
Co-authored-by: erwincoumans <erwin.coumans@gmail.com>
traversaro added a commit to traversaro/dart that referenced this pull request Mar 19, 2021
…ass with virtual base with appropriate pragmas (dartsim#1541)

Co-authored-by: Jeongseok Lee <jslee02@users.noreply.github.com>
Co-authored-by: erwincoumans <erwin.coumans@gmail.com>
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Windows test failures with c++ exception: "Access violation - no RTTI data!"
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