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bazel: Updates for garden (minus ABI break) #598

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bazel: Updates for garden (minus ABI break) #598

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mjcarroll
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Rework #513 to not break ABI.

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bazel: updates for garden (#513)
9be2145 
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
@mjcarroll
Don't define GZ_PHYSICS_VERSION_NAMESPACE
45a0de5 
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
@github-actions github-actions bot added the 🌱 garden Ignition Garden label Feb 6, 2024
@mjcarroll
Special dart destructor doesn't work with static linking
1491536 
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
@mjcarroll mjcarroll mentioned this pull request Feb 6, 2024
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Minimize diff
63ebe75 
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
@mjcarroll
Fix plugin
4c0eb37 
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
@mjcarroll
Minimize diff
df16ec9 
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
@mjcarroll
Minimize diff
ddcd72b 
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
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codecov bot commented Feb 6, 2024 •
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Codecov Report

Attention: Patch coverage is 0% with 1 line in your changes missing coverage. Please review.

Project coverage is 78.67%. Comparing base (ea90ada) to head (4d6ef43).
Report is 21 commits behind head on gz-physics6.

Files Patch % Lines
src/InstallationDirectories.cc 0.00% 1 Missing ⚠️
Additional details and impacted files 
@@               Coverage Diff               @@
##           gz-physics6     #598      +/-   ##
===============================================
+ Coverage        78.52%   78.67%   +0.14%     
===============================================
  Files              140      140              
  Lines             7670     7652      -18     
===============================================
- Hits              6023     6020       -3     
+ Misses            1647     1632      -15

☔ View full report in Codecov by Sentry.
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mjcarroll
mjcarroll commented Feb 6, 2024
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dartsim/src/plugin.cc Outdated
@@ -62,6 +62,7 @@ class Plugin :
public virtual SimulationFeatures,
public virtual WorldFeatures { };

#ifndef GZ_PHYSICS_BAZEL_BUILD
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FYI @azeey this is what breaks when dartsim is statically linked via bazel. Removing this section causes the cashes to go away.

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💸

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I found that loading the plugins with RTLD_NODELETE and removing this section fixes the issue on macOS and Linux. We do that for Gazebo plugins already, so I think we should do the same for physics engines.

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Tested here: gazebosim/gz-bazel#70

scpeters
scpeters reviewed Feb 7, 2024
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src/InstallationDirectories.cc
@@ -28,27 +28,28 @@ namespace gz
{
namespace physics
{
inline namespace GZ_PHYSICS_VERSION_NAMESPACE {
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given that this is still in the header file, is it ok to change it here?

https://github.com/gazebosim/gz-physics/blob/mjcarroll/garden_bazel/include/gz/physics/InstallationDirectories.hh#L30

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I just moved it a little further down (

gz-physics/src/InstallationDirectories.cc

Line 149 in ddcd72b

inline namespace GZ_PHYSICS_VERSION_NAMESPACE {
), and put the rest in an anonymous namespace since it's not part of the public API

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👍

shameekganguly
shameekganguly reviewed Feb 8, 2024
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Thanks!

@mjcarroll
Address reviewer feedback
b928d99 
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
@mjcarroll
Change to RTLD_NODELETE and fix tests
51001d9 
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
@mjcarroll
Buildifier
74b3a81 
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
@mjcarroll
Buildifier
116416d 
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
@mjcarroll
Merge remote-tracking branch 'origin/mjcarroll/garden_bazel' into mjc…
4d6ef43 
…arroll/garden_bazel

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
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@osrf-jenkins retest this please

scpeters
scpeters reviewed Mar 5, 2024
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dartsim/src/plugin.cc
};

UnregisterCollisionDetectors unregisterAtUnload;
}
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I think this removal is the source of the macOS test failures

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azeey commented Jun 10, 2024

@azeey to take a look at macOS failures.

@azeey azeey added beta Targeting beta release of upcoming collection and removed beta Targeting beta release of upcoming collection labels Jul 29, 2024
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@azeey azeey Awaiting requested review from azeey azeey is a code owner

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