Fix Windows and Mac OS Github Actions

.github/workflows/mac.yml

@@ -18,7 +18,7 @@ on:
 
 env:
   VCPKG_PKGS: >- 
-    boost-dll boost-program-options
+    boost-dll boost-program-options boost-stacktrace
     boost-serialization boost-filesystem boost-format
     tinyxml2 console-bridge assimp
     urdfdom octomap orocos-kdl pcl
@@ -31,7 +31,19 @@ env:
 
 jobs:
   build-macos:
-    runs-on: macos-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - runner: macos-12
+            vcpkg_triplet: x64-osx-dynamic-release
+            arch: x64
+            homebrew_root: /usr/local
+          - runner: macos-14
+            vcpkg_triplet: arm64-osx-dynamic-release
+            arch: arm64
+            homebrew_root: /opt/homebrew
+    runs-on: ${{ matrix.config.runner }}
     steps:
     - uses: actions/checkout@v2
       with:
@@ -48,10 +60,10 @@ jobs:
       with:
         pkgs: >-
           ${{ env.VCPKG_PKGS }}
-        triplet: x64-osx-dynamic-release
+        triplet: ${{ matrix.config.vcpkg_triplet }}
         extra-args: --clean-after-build --overlay-triplets=${{ github.workspace }}/ws/src/tesseract_planning/.github/workflows/vcpkg_triplets
         token: ${{ github.token }}
-        cache-key: osx-x64-vcpkg
+        cache-key: osx-${{ matrix.config.arch }}-vcpkg
         revision: master
         github-binarycache: true
     - name: pip3
@@ -63,8 +75,8 @@ jobs:
     - name: colcon build
       working-directory: ws
       run: |
-        export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release/lib
-        export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release
+        export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib
+        export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}
 
         colcon build --merge-install \
             --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd tesseract_python \
@@ -75,17 +87,17 @@ jobs:
             -DBUILD_SHARED_LIBS=ON -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF \
             -DVCPKG_APPLOCAL_DEPS=OFF -DTESSERACT_ENABLE_TESTING=ON \
             -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \
-            -DOpenMP_CXX_INCLUDE_DIR=/usr/local/opt/libomp/include \
-            -DOpenMP_C_INCLUDE_DIR=/usr/local/opt/libomp/include \
+            -DOpenMP_CXX_INCLUDE_DIR=${{ matrix.config.homebrew_root }}/opt/libomp/include \
+            -DOpenMP_C_INCLUDE_DIR=${{ matrix.config.homebrew_root }}/opt/libomp/include \
             -DOpenMP_CXX_LIB_NAMES=libomp -DOpenMP_CXX_FLAGS="-Xpreprocessor -fopenmp" \
             -DOpenMP_C_LIB_NAMES=libomp -DOpenMP_C_FLAGS="-Xpreprocessor -fopenmp" \
-            -DOpenMP_libomp_LIBRARY=/usr/local/opt/libomp/lib/libomp.dylib \
+            -DOpenMP_libomp_LIBRARY=${{ matrix.config.homebrew_root }}/opt/libomp/lib/libomp.dylib
             -Dtcmalloc_minimal_LIBRARY=${{ github.workspace }}/vcpkg/installed/x64-osx-dynamic-release/lib/libtcmalloc_minimal.dylib
     - name: colcon test
       working-directory: ws
       run: |
-        export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release/lib
-        export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release
+        export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib
+        export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}
 
         colcon test --merge-install \
             --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd tesseract_python \

.github/workflows/vcpkg_triplets/arm64-osx-dynamic-release.cmake

@@ -0,0 +1,9 @@
+set(VCPKG_TARGET_ARCHITECTURE arm64)
+set(VCPKG_CRT_LINKAGE dynamic)
+set(VCPKG_LIBRARY_LINKAGE dynamic)
+
+set(VCPKG_CMAKE_SYSTEM_NAME Darwin)
+set(VCPKG_OSX_ARCHITECTURES arm64)
+
+set(VCPKG_BUILD_TYPE release)
+set(VCPKG_OSX_DEPLOYMENT_TARGET 14.0)

.github/workflows/windows.yml

@@ -32,7 +32,7 @@ jobs:
         pkgs: >-
           fcl bullet3[multithreading,double-precision,rtti] octomap
           console-bridge eigen3 yaml-cpp benchmark tinyxml2 assimp orocos-kdl pcl
-          lapack-reference boost-dll boost-filesystem boost-serialization boost-format
+          lapack-reference boost-dll boost-filesystem boost-serialization boost-format boost-stacktrace
           boost-program-options boost-graph urdfdom ccd[double-precision] gtest
           ompl taskflow jsoncpp flann benchmark
         triplet: x64-windows-release
@@ -57,6 +57,7 @@ jobs:
       with:
         ccache-prefix: ${{ matrix.distro }}
         vcs-file: .github/workflows/windows_dependencies.repos
-        upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF
+        upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF -DVCPKG_APPLOCAL_DEPS=OFF
         target-path: target_ws/src
-        target-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON
+        target-args: --packages-ignore tesseract_examples --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF -DVCPKG_APPLOCAL_DEPS=OFF
+        run-tests-args: --packages-ignore tesseract_examples

tesseract_task_composer/core/CMakeLists.txt

@@ -1,3 +1,6 @@
+# Need to create export header so static class variables can be exported on windows build
+include(GenerateExportHeader)
+
 add_library(
   ${PROJECT_NAME}
   src/task_composer_data_storage.cpp
@@ -13,6 +16,7 @@ add_library(
   src/task_composer_plugin_factory.cpp
   src/task_composer_server.cpp
   src/task_composer_task.cpp)
+
 target_link_libraries(
   ${PROJECT_NAME}
   PUBLIC console_bridge::console_bridge
@@ -35,8 +39,9 @@ target_code_coverage(
   ALL
   EXCLUDE ${COVERAGE_EXCLUDE}
   ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
-target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                                                  "$<INSTALL_INTERFACE:include>")
+target_include_directories(
+  ${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                         "$<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/../>" "$<INSTALL_INTERFACE:include>")
 
 add_library(
   ${PROJECT_NAME}_nodes
@@ -47,6 +52,9 @@ add_library(
   src/nodes/start_task.cpp
   src/nodes/sync_task.cpp
   src/test_suite/test_task.cpp)
+
+generate_export_header(${PROJECT_NAME}_nodes)
+
 target_link_libraries(
   ${PROJECT_NAME}_nodes
   PUBLIC ${PROJECT_NAME}
@@ -97,6 +105,9 @@ install(
   PATTERN "*.h"
   PATTERN "*.hpp")
 
+install(FILES ${PROJECT_BINARY_DIR}/core/tesseract_task_composer_nodes_export.h
+        DESTINATION include/${PROJECT_NAME}/core/ COMPONENT core)
+
 # Plugin should not be export only installed
 install(
   TARGETS ${PROJECT_NAME}_factories

tesseract_task_composer/core/include/tesseract_task_composer/core/nodes/has_data_storage_entry_task.h

@@ -5,14 +5,15 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/core/tesseract_task_composer_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
 
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class HasDataStorageEntryTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_NODES_EXPORT HasDataStorageEntryTask : public TaskComposerTask
 {
 public:
   // Requried

tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h

@@ -40,6 +40,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_keys.h>
 #include <tesseract_task_composer/core/task_composer_node_ports.h>
+#include <tesseract_task_composer/core/task_composer_node_info.h>
 
 namespace YAML
 {
@@ -48,7 +49,6 @@ class Node;
 
 namespace tesseract_planning
 {
-class TaskComposerNodeInfo;
 class TaskComposerDataStorage;
 
 enum class TaskComposerNodeType

tesseract_task_composer/planning/CMakeLists.txt

@@ -1,3 +1,6 @@
+# Need to create export header so static class variables can be exported on windows build
+include(GenerateExportHeader)
+
 find_package(tesseract_command_language REQUIRED)
 find_package(
   tesseract_motion_planners REQUIRED
@@ -138,7 +141,9 @@ target_code_coverage(
   ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
 target_include_directories(
   ${PROJECT_NAME}_planning_nodes PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                                        "$<INSTALL_INTERFACE:include>")
+                                        "$<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/../>" "$<INSTALL_INTERFACE:include>")
+
+generate_export_header(${PROJECT_NAME}_planning_nodes)
 
 # Create factories target
 add_library(${PROJECT_NAME}_planning_factories ${FACTORIES_SOURCE_FILES})
@@ -171,6 +176,9 @@ install(
   PATTERN "*.hpp"
   PATTERN ".svn" EXCLUDE)
 
+install(FILES ${PROJECT_BINARY_DIR}/planning/tesseract_task_composer_planning_nodes_export.h
+        DESTINATION include/${PROJECT_NAME}/planning/ COMPONENT planning)
+
 # Plugin should not be export only installed
 install(
   TARGETS ${PROJECT_NAME}_planning_factories

tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h

@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <vector>
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -41,7 +42,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class ContinuousContactCheckTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT ContinuousContactCheckTask : public TaskComposerTask
 {
 public:
   // Requried

tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h

@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <vector>
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -41,7 +42,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class DiscreteContactCheckTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT DiscreteContactCheckTask : public TaskComposerTask
 {
 public:
   // Requried

tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h

@@ -30,6 +30,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -42,7 +43,7 @@ class TaskComposerPluginFactory;
  * @brief This task modifies the input instructions in order to push waypoints that are outside of their
  * limits back within them.
  */
-class FixStateBoundsTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FixStateBoundsTask : public TaskComposerTask
 {
 public:
   // Requried

tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h

@@ -30,6 +30,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -50,7 +51,7 @@ struct FixStateCollisionProfile;
  *
  * First it uses TrajOpt to correct the waypoint. If that fails, it reverts to random sampling
  */
-class FixStateCollisionTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FixStateCollisionTask : public TaskComposerTask
 {
 public:
   // Requried

tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_input_task.h

@@ -33,6 +33,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -51,7 +52,7 @@ class TaskComposerPluginFactory;
  * input_keys[0]: The original input to motion planning
  * input_keys[1]: The output of the first motion plan which failed collision checking
  */
-class FormatAsInputTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FormatAsInputTask : public TaskComposerTask
 {
 public:
   // Requried

tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_result_task.h

@@ -5,14 +5,15 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
 
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class FormatAsResultTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FormatAsResultTask : public TaskComposerTask
 {
 public:
   // Requried

tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h

@@ -30,6 +30,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -39,7 +40,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class IterativeSplineParameterizationTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT IterativeSplineParameterizationTask : public TaskComposerTask
 {
 public:
   // Requried

tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/min_length_task.h

@@ -31,14 +31,15 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
 
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class MinLengthTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT MinLengthTask : public TaskComposerTask
 {
 public:
   // Requried

tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/process_planning_input_task.h

@@ -31,14 +31,15 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
 
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class ProcessPlanningInputTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT ProcessPlanningInputTask : public TaskComposerTask
 {
 public:
   // Requried

tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/profile_switch_task.h

@@ -28,6 +28,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -39,7 +40,7 @@ class TaskComposerPluginFactory;
  * @brief This task simply returns a value specified in the composite profile. This can be used to switch execution
  * based on the profile
  */
-class ProfileSwitchTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT ProfileSwitchTask : public TaskComposerTask
 {
 public:
   // Requried