Merge branch 'master' into fds_upstream

.azure-pipelines.yml

@@ -2,53 +2,57 @@
 # Ref: https://docs.microsoft.com/en-us/azure/devops/pipelines
 
 jobs:
-- job: xenial_gcc_debug
-  timeoutInMinutes: 120
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    COMPILER: gcc
-    BUILD_TYPE: Debug
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-xenial
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
+  - job: xenial_gcc_debug
+    timeoutInMinutes: 120
+    pool:
+      vmImage: "ubuntu-20.04"
+    variables:
+      COMPILER: gcc
+      BUILD_TYPE: Debug
+      BUILD_DIR: $(Build.SourcesDirectory)
+      DOCKER_NAME: dartsim/dart-dev:xenial-v6.10
+      BUILD_DARTPY: OFF
+    steps:
+      - template: .ci/azure-pipelines/docker.yml
 
-- job: bionic_gcc_debug
-  timeoutInMinutes: 120
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    COMPILER: gcc
-    BUILD_TYPE: Debug
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-bionic
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
+  - job: bionic_gcc_debug
+    timeoutInMinutes: 120
+    pool:
+      vmImage: "ubuntu-20.04"
+    variables:
+      COMPILER: gcc
+      BUILD_TYPE: Debug
+      BUILD_DIR: $(Build.SourcesDirectory)
+      DOCKER_NAME: dartsim/dart-dev:bionic-v6.10
+      BUILD_DARTPY: OFF
+    steps:
+      - template: .ci/azure-pipelines/docker.yml
 
-- job: focal_gcc_debug
-  timeoutInMinutes: 120
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    COMPILER: gcc
-    BUILD_TYPE: Debug
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-focal
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
+  - job: focal_gcc_debug
+    timeoutInMinutes: 120
+    pool:
+      vmImage: "ubuntu-20.04"
+    variables:
+      COMPILER: gcc
+      BUILD_TYPE: Debug
+      BUILD_DIR: $(Build.SourcesDirectory)
+      DOCKER_NAME: dartsim/dart-dev:focal-v6.10
+      BUILD_DARTPY: OFF
+    steps:
+      - template: .ci/azure-pipelines/docker.yml
 
-- job: catalina_clang_debug
-  timeoutInMinutes: 120
-  pool:
-    vmImage: 'macOS-10.15'
-  variables:
-    BUILD_TYPE: Debug
-    BUILD_DIR: $(Build.SourcesDirectory)
-  steps:
-  - script: |
-      '.ci/install.sh'
-    displayName: 'Install'
-  - script: |
-      '.ci/script.sh'
-    displayName: 'Script'
+  - job: catalina_clang_debug
+    timeoutInMinutes: 120
+    pool:
+      vmImage: "macOS-10.15"
+    variables:
+      BUILD_TYPE: Debug
+      BUILD_DIR: $(Build.SourcesDirectory)
+      BUILD_DARTPY: OFF
+    steps:
+      - script: |
+          '.ci/install.sh'
+        displayName: "Install"
+      - script: |
+          '.ci/script.sh'
+        displayName: "Script"

.ci/azure-pipelines/docker.yml

@@ -2,11 +2,12 @@ parameters:
   numThreads: 4
 
 steps:
-- script: |
-    docker build -t ${DOCKERFILE,,} -f ".ci/docker/$DOCKERFILE" .;
-    docker run -itd -v $(Build.SourcesDirectory):$(Build.SourcesDirectory) --env-file .ci/docker/env.list --name dart-docker ${DOCKERFILE,,};
-    docker exec dart-docker /bin/sh -c "cd $(Build.SourcesDirectory) && ./.ci/install.sh";
-  displayName: 'Install'
-- script: |
-    docker exec dart-docker /bin/sh -c "cd $(Build.SourcesDirectory) && ./.ci/script.sh -j${{ parameters.numThreads }}";
-  displayName: 'Script'
+  - script: docker pull $DOCKER_NAME
+    displayName: "Pull dev container"
+  - script: |
+      docker run \
+        -v $(Build.SourcesDirectory):$(Build.SourcesDirectory) \
+        --env-file .ci/docker/env.list \
+        $DOCKER_NAME \
+        /bin/sh -c "cd $(Build.SourcesDirectory) && ./.ci/script.sh -j${{ parameters.numThreads }}"
+    displayName: "Build"

.ci/install_linux.sh

@@ -1,6 +1,8 @@
 #!/usr/bin/env bash
 set -ex
 
+# TODO(JS): Remove this file once CODECOV and gh-page migrated to the Docker builds
+
 # Sanity checks for required environment variables.
 if [ -z "$BUILD_DARTPY" ]; then
   echo "Info: Environment variable BUILD_DARTPY is unset. Using OFF by default."

.ci/install_osx.sh

@@ -3,7 +3,7 @@ set -ex
 
 brew update > /dev/null
 brew bundle || brew bundle
-brew install open-scene-graph --HEAD  # install master branch until 3.7.0 is released
+brew install open-scene-graph --HEAD # install master branch until 3.7.0 is released
 
 # pagmo2: build from source until https://github.com/esa/pagmo2/issues/445 is resolved
 brew install tbb
@@ -18,4 +18,6 @@ git clone https://github.com/esa/pagmo2.git -b 'v2.15.0' --single-branch --depth
   make -j$(sysctl -n hw.logicalcpu) &&
   make install
 
-pip3 install -U numpy pytest
+# Use pip for the default Python3 version
+py_version=$(python3 -c "import sys; print('{}.{}'.format(sys.version_info[0], sys.version_info[1]))")
+pip$py_version install -U numpy pytest

.ci/script.sh

@@ -54,9 +54,11 @@ else
 fi
 while getopts ":j:" opt; do
   case $opt in
-    j) num_threads="$OPTARG"
+  j)
+    num_threads="$OPTARG"
     ;;
-    \?) echo "Invalid option -$OPTARG" >& 2
+  \?)
+    echo "Invalid option -$OPTARG" >&2
     ;;
   esac
 done
@@ -75,7 +77,7 @@ fi
 # Skip Xenial and Bionic in push builds
 if [ "$IS_PULL_REQUEST" = "false" ]; then
   if [ "$DOCKER_FILE" ]; then
-    exit 0;
+    exit 0
   fi
 fi
 
@@ -138,4 +140,4 @@ if [ "$RUN_INSTALL_TEST" = "ON" ]; then
     cmake ..
     make -j$num_threads
   fi
-fi
+fi

.ci/travis/docs_versions.txt

@@ -1,5 +1,5 @@
 DART 6
-v6.9.3
+v6.9.5
 v6.8.5
 v6.7.3
 v6.6.2