Add CI support for macos-14 Apple Silicon #1589

traversaro · 2024-01-30T20:53:23Z

macos-14 is Apple Silicon, see https://github.blog/changelog/2024-01-30-github-actions-introducing-the-new-m1-macos-runner-available-to-open-source/ . I also changed macos-latest to macos-12, as now macos-latest is an alias for macos-12 (see https://docs.github.com/en/actions/using-github-hosted-runners/about-github-hosted-runners/about-github-hosted-runners#standard-github-hosted-runners-for-public-repositories) and it is a bit confusing otherwise

fyi @DanielePucci, that should reduce possible regressions for Apple Silicon users in the future.

traversaro · 2024-01-30T21:30:25Z

CI fails with:

CMake Error at cmake/YarpFindDependencies.cmake:187 (message):
  Optional package ACE not found.  Please install it or enable the option
  "SKIP_ACE" to build yarp.
Call Stack (most recent call first):
  cmake/YarpFindDependencies.cmake:707 (check_skip_dependency)
  CMakeLists.txt:60 (include)

So #1573 is not working as expected.

traversaro · 2024-01-30T22:18:32Z

CI fails with:

CMake Error at cmake/YarpFindDependencies.cmake:187 (message):
  Optional package ACE not found.  Please install it or enable the option
  "SKIP_ACE" to build yarp.
Call Stack (most recent call first):
  cmake/YarpFindDependencies.cmake:707 (check_skip_dependency)
  CMakeLists.txt:60 (include)

So #1573 is not working as expected.

The debug print prints:

2024-01-30T22:04:33.5853280Z -- Fetching YCM.
2024-01-30T22:04:41.1446350Z -- ==========> ROBOTOLOGY_CONFIGURING_UNDER_CONDA: ON
2024-01-30T22:04:41.1486270Z -- ==========> APPLE: 1
2024-01-30T22:04:41.1486880Z -- ==========> CMAKE_SYSTEM_PROCESSOR: x86_64

so I guess we are installing the wrong mambaforge?

traversaro · 2024-01-30T22:30:39Z

so I guess we are installing the wrong mambaforge?

Indeed we were using an old setup-miniconda release, let's update it to v3 and see it this improves.

traversaro · 2024-01-30T22:32:02Z

To actually have Apple Silicon CI, for the MATLAB part we need to also add msdk files for Apple Silicon.

traversaro · 2024-01-30T22:51:16Z

so I guess we are installing the wrong mambaforge?

Indeed we were using an old setup-miniconda release, let's update it to v3 and see it this improves.

Same problem with v3, let's try to directly pass the install file as suggested in conda-incubator/setup-miniconda#312 (comment) .

traversaro · 2024-01-30T23:05:28Z

First errors in blocktestcore:

2024-01-30T23:02:48.2279580Z [6/95] Building CXX object src/blocktestcore/CMakeFiles/blocktestcore.dir/infoLogger.cpp.o
2024-01-30T23:02:48.2281000Z FAILED: src/blocktestcore/CMakeFiles/blocktestcore.dir/infoLogger.cpp.o 
2024-01-30T23:02:48.2287940Z /Users/runner/miniconda3/envs/test/bin/arm64-apple-darwin20.0.0-clang++ -DBOOST_ATOMIC_DYN_LINK -DBOOST_ATOMIC_NO_LIB -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_FILESYSTEM_NO_LIB -DBOOST_SYSTEM_DYN_LINK -DBOOST_SYSTEM_NO_LIB -Dblocktestcore_EXPORTS -I/Users/runner/work/robotology-superbuild/robotology-superbuild/b/src/blocktestcore/src/blocktestcore/blocktestcore_autogen/include -I/Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore -I/Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/extern/pugixml -ftree-vectorize -fPIC -fstack-protector-strong -O2 -pipe -stdlib=libc++ -fvisibility-inlines-hidden -fmessage-length=0 -isystem /Users/runner/miniconda3/envs/test/include -Wall -Wextra -O3 -DNDEBUG -std=gnu++17 -arch arm64 -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk -fPIC -MD -MT src/blocktestcore/CMakeFiles/blocktestcore.dir/infoLogger.cpp.o -MF src/blocktestcore/CMakeFiles/blocktestcore.dir/infoLogger.cpp.o.d -o src/blocktestcore/CMakeFiles/blocktestcore.dir/infoLogger.cpp.o -c /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.cpp
2024-01-30T23:02:48.2294820Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.cpp:14:
2024-01-30T23:02:48.2296180Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.h:15:
2024-01-30T23:02:48.2297830Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/type.h:16:
2024-01-30T23:02:48.2301670Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/general.h:3:
2024-01-30T23:02:48.2304050Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process.hpp:23:
2024-01-30T23:02:48.2305280Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/async.hpp:43:
2024-01-30T23:02:48.2306410Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/async_in.hpp:19:
2024-01-30T23:02:48.2308200Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/used_handles.hpp:14:
2024-01-30T23:02:48.2310060Z /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/handles.hpp:36:20: error: expected unqualified-id
2024-01-30T23:02:48.2310950Z     auto my_fd = ::dirfd(dir.get());
2024-01-30T23:02:48.2311800Z                    ^
2024-01-30T23:02:48.2313060Z /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/dirent.h:136:21: note: expanded from macro 'dirfd'
2024-01-30T23:02:48.2314240Z #define dirfd(dirp) ({                         \
2024-01-30T23:02:48.2314760Z                     ^
2024-01-30T23:02:48.2324290Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.cpp:14:
2024-01-30T23:02:48.2325840Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.h:15:
2024-01-30T23:02:48.2327520Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/type.h:16:
2024-01-30T23:02:48.2329840Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/general.h:3:
2024-01-30T23:02:48.2330860Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process.hpp:23:
2024-01-30T23:02:48.2331820Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/async.hpp:43:
2024-01-30T23:02:48.2335300Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/async_in.hpp:19:
2024-01-30T23:02:48.2336540Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/used_handles.hpp:14:
2024-01-30T23:02:48.2338250Z /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/handles.hpp:36:20: error: unexpected type name 'DIR': expected expression
2024-01-30T23:02:48.2339900Z /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/dirent.h:137:5: note: expanded from macro 'dirfd'
2024-01-30T23:02:48.2341250Z     DIR *_dirp = (dirp);                       \
2024-01-30T23:02:48.2341590Z     ^
2024-01-30T23:02:48.2342370Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.cpp:14:
2024-01-30T23:02:48.2344590Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.h:15:
2024-01-30T23:02:48.2346100Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/type.h:16:
2024-01-30T23:02:48.2347420Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/general.h:3:
2024-01-30T23:02:48.2350080Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process.hpp:23:
2024-01-30T23:02:48.2350800Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/async.hpp:43:
2024-01-30T23:02:48.2351710Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/async_in.hpp:19:
2024-01-30T23:02:48.2353270Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/used_handles.hpp:14:
2024-01-30T23:02:48.2355000Z /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/handles.hpp:36:20: error: use of undeclared identifier '_dirp'
2024-01-30T23:02:48.2356210Z /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/dirent.h:137:10: note: expanded from macro 'dirfd'
2024-01-30T23:02:48.2357230Z     DIR *_dirp = (dirp);                       \
2024-01-30T23:02:48.2357810Z          ^
2024-01-30T23:02:48.2359780Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.cpp:14:
2024-01-30T23:02:48.2361310Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.h:15:
2024-01-30T23:02:48.2363210Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/type.h:16:
2024-01-30T23:02:48.2364990Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/general.h:3:
2024-01-30T23:02:48.2366280Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process.hpp:23:
2024-01-30T23:02:48.2367010Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/async.hpp:43:
2024-01-30T23:02:48.2367860Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/async_in.hpp:19:
2024-01-30T23:02:48.2370200Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/used_handles.hpp:14:
2024-01-30T23:02:48.2371350Z /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/handles.hpp:120:24: error: expected unqualified-id
2024-01-30T23:02:48.2375690Z         auto my_fd = ::dirfd(dir);
2024-01-30T23:02:48.2376890Z                        ^
2024-01-30T23:02:48.2378230Z /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/dirent.h:136:21: note: expanded from macro 'dirfd'
2024-01-30T23:02:48.2380120Z #define dirfd(dirp) ({                         \
2024-01-30T23:02:48.2381230Z                     ^
2024-01-30T23:02:48.2382000Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.cpp:14:
2024-01-30T23:02:48.2383660Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.h:15:
2024-01-30T23:02:48.2385550Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/type.h:16:
2024-01-30T23:02:48.2387000Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/general.h:3:
2024-01-30T23:02:48.2390360Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process.hpp:23:
2024-01-30T23:02:48.2391380Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/async.hpp:43:
2024-01-30T23:02:48.2392750Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/async_in.hpp:19:
2024-01-30T23:02:48.2394120Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/used_handles.hpp:14:
2024-01-30T23:02:48.2395810Z /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/handles.hpp:120:24: error: unexpected type name 'DIR': expected expression
2024-01-30T23:02:48.2397040Z /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/dirent.h:137:5: note: expanded from macro 'dirfd'
2024-01-30T23:02:48.2398100Z     DIR *_dirp = (dirp);                       \
2024-01-30T23:02:48.2398830Z     ^
2024-01-30T23:02:48.2399510Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.cpp:14:
2024-01-30T23:02:48.2400910Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/infoLogger.h:15:
2024-01-30T23:02:48.2401980Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/type.h:16:
2024-01-30T23:02:48.2403030Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/general.h:3:
2024-01-30T23:02:48.2403870Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process.hpp:23:
2024-01-30T23:02:48.2404550Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/async.hpp:43:
2024-01-30T23:02:48.2405340Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/async_in.hpp:19:
2024-01-30T23:02:48.2406110Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/used_handles.hpp:14:
2024-01-30T23:02:48.2407130Z /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/handles.hpp:120:24: error: use of undeclared identifier '_dirp'
2024-01-30T23:02:48.2408200Z /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/dirent.h:137:10: note: expanded from macro 'dirfd'
2024-01-30T23:02:48.2408770Z     DIR *_dirp = (dirp);                       \
2024-01-30T23:02:48.2409090Z          ^
2024-01-30T23:02:48.2409250Z 6 errors generated.
2024-01-30T23:02:48.2409640Z [7/95] Building CXX object src/blocktestcore/CMakeFiles/blocktestcore.dir/clockFacility.cpp.o
2024-01-30T23:02:48.2410220Z FAILED: src/blocktestcore/CMakeFiles/blocktestcore.dir/clockFacility.cpp.o 
2024-01-30T23:02:48.2415620Z /Users/runner/miniconda3/envs/test/bin/arm64-apple-darwin20.0.0-clang++ -DBOOST_ATOMIC_DYN_LINK -DBOOST_ATOMIC_NO_LIB -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_FILESYSTEM_NO_LIB -DBOOST_SYSTEM_DYN_LINK -DBOOST_SYSTEM_NO_LIB -Dblocktestcore_EXPORTS -I/Users/runner/work/robotology-superbuild/robotology-superbuild/b/src/blocktestcore/src/blocktestcore/blocktestcore_autogen/include -I/Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore -I/Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/extern/pugixml -ftree-vectorize -fPIC -fstack-protector-strong -O2 -pipe -stdlib=libc++ -fvisibility-inlines-hidden -fmessage-length=0 -isystem /Users/runner/miniconda3/envs/test/include -Wall -Wextra -O3 -DNDEBUG -std=gnu++17 -arch arm64 -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk -fPIC -MD -MT src/blocktestcore/CMakeFiles/blocktestcore.dir/clockFacility.cpp.o -MF src/blocktestcore/CMakeFiles/blocktestcore.dir/clockFacility.cpp.o.d -o src/blocktestcore/CMakeFiles/blocktestcore.dir/clockFacility.cpp.o -c /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.cpp
2024-01-30T23:02:48.2421060Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.cpp:1:
2024-01-30T23:02:48.2422210Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.h:15:
2024-01-30T23:02:48.2423260Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/general.h:3:
2024-01-30T23:02:48.2424300Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process.hpp:23:
2024-01-30T23:02:48.2424930Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/async.hpp:43:
2024-01-30T23:02:48.2425880Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/async_in.hpp:19:
2024-01-30T23:02:48.2426900Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/used_handles.hpp:14:
2024-01-30T23:02:48.2427970Z /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/handles.hpp:36:20: error: expected unqualified-id
2024-01-30T23:02:48.2428580Z     auto my_fd = ::dirfd(dir.get());
2024-01-30T23:02:48.2428810Z                    ^
2024-01-30T23:02:48.2429360Z /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/dirent.h:136:21: note: expanded from macro 'dirfd'
2024-01-30T23:02:48.2430000Z #define dirfd(dirp) ({                         \
2024-01-30T23:02:48.2430270Z                     ^
2024-01-30T23:02:48.2430990Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.cpp:1:
2024-01-30T23:02:48.2432110Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.h:15:
2024-01-30T23:02:48.2433150Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/general.h:3:
2024-01-30T23:02:48.2433990Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process.hpp:23:
2024-01-30T23:02:48.2434680Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/async.hpp:43:
2024-01-30T23:02:48.2435410Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/async_in.hpp:19:
2024-01-30T23:02:48.2436260Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/used_handles.hpp:14:
2024-01-30T23:02:48.2437270Z /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/handles.hpp:36:20: error: unexpected type name 'DIR': expected expression
2024-01-30T23:02:48.2438430Z /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/dirent.h:137:5: note: expanded from macro 'dirfd'
2024-01-30T23:02:48.2439010Z     DIR *_dirp = (dirp);                       \
2024-01-30T23:02:48.2439260Z     ^
2024-01-30T23:02:48.2439920Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.cpp:1:
2024-01-30T23:02:48.2441050Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.h:15:
2024-01-30T23:02:48.2443740Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/general.h:3:
2024-01-30T23:02:48.2444560Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process.hpp:23:
2024-01-30T23:02:48.2445200Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/async.hpp:43:
2024-01-30T23:02:48.2445930Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/async_in.hpp:19:
2024-01-30T23:02:48.2446720Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/used_handles.hpp:14:
2024-01-30T23:02:48.2447740Z /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/handles.hpp:36:20: error: use of undeclared identifier '_dirp'
2024-01-30T23:02:48.2448760Z /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/dirent.h:137:10: note: expanded from macro 'dirfd'
2024-01-30T23:02:48.2449330Z     DIR *_dirp = (dirp);                       \
2024-01-30T23:02:48.2449650Z          ^
2024-01-30T23:02:48.2450280Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.cpp:1:
2024-01-30T23:02:48.2451500Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.h:15:
2024-01-30T23:02:48.2452580Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/general.h:3:
2024-01-30T23:02:48.2453500Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process.hpp:23:
2024-01-30T23:02:48.2454130Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/async.hpp:43:
2024-01-30T23:02:48.2454860Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/async_in.hpp:19:
2024-01-30T23:02:48.2455650Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/used_handles.hpp:14:
2024-01-30T23:02:48.2456590Z /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/handles.hpp:120:24: error: expected unqualified-id
2024-01-30T23:02:48.2457260Z         auto my_fd = ::dirfd(dir);
2024-01-30T23:02:48.2457480Z                        ^
2024-01-30T23:02:48.2458030Z /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/dirent.h:136:21: note: expanded from macro 'dirfd'
2024-01-30T23:02:48.2458610Z #define dirfd(dirp) ({                         \
2024-01-30T23:02:48.2458870Z                     ^
2024-01-30T23:02:48.2459520Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.cpp:1:
2024-01-30T23:02:48.2460670Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.h:15:
2024-01-30T23:02:48.2461720Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/general.h:3:
2024-01-30T23:02:48.2462500Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process.hpp:23:
2024-01-30T23:02:48.2463140Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/async.hpp:43:
2024-01-30T23:02:48.2463910Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/async_in.hpp:19:
2024-01-30T23:02:48.2464800Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/used_handles.hpp:14:
2024-01-30T23:02:48.2465840Z /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/handles.hpp:120:24: error: unexpected type name 'DIR': expected expression
2024-01-30T23:02:48.2466900Z /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/dirent.h:137:5: note: expanded from macro 'dirfd'
2024-01-30T23:02:48.2467540Z     DIR *_dirp = (dirp);                       \
2024-01-30T23:02:48.2467800Z     ^
2024-01-30T23:02:48.2468470Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.cpp:1:
2024-01-30T23:02:48.2469600Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/clockFacility.h:15:
2024-01-30T23:02:48.2470640Z In file included from /Users/runner/work/robotology-superbuild/robotology-superbuild/src/blocktestcore/src/blocktestcore/general.h:3:
2024-01-30T23:02:48.2471430Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process.hpp:23:
2024-01-30T23:02:48.2472060Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/async.hpp:43:
2024-01-30T23:02:48.2472780Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/async_in.hpp:19:
2024-01-30T23:02:48.2473560Z In file included from /Users/runner/miniconda3/envs/test/include/boost/process/detail/used_handles.hpp:14:
2024-01-30T23:02:48.2474540Z /Users/runner/miniconda3/envs/test/include/boost/process/detail/posix/handles.hpp:120:24: error: use of undeclared identifier '_dirp'
2024-01-30T23:02:48.2475660Z /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/dirent.h:137:10: note: expanded from macro 'dirfd'
2024-01-30T23:02:48.2476250Z     DIR *_dirp = (dirp);                       \
2024-01-30T23:02:48.2476500Z          ^
2024-01-30T23:02:48.2476660Z 6 errors generated.
2024-01-30T23:02:48.2476920Z ninja: build stopped: subcommand failed.

Probably we can disable ROBOTOLOGY_ENABLE_TESTING (for this error) and ROBOTOLOGY_ENABLE_ICUB_HEAD (as it requires ace) for now.

traversaro · 2024-01-30T23:21:03Z

To actually have Apple Silicon CI, for the MATLAB part we need to also add msdk files for Apple Silicon.

Now we reached an error related to that:

[5/27] Linking CXX shared library lib/libmxpp.0.1.dylib
FAILED: lib/libmxpp.0.1.dylib 
: && /Users/runner/miniconda3/envs/test/bin/arm64-apple-darwin20.0.0-clang++ -ftree-vectorize -fPIC -fstack-protector-strong -O2 -pipe -stdlib=libc++ -fvisibility-inlines-hidden -fmessage-length=0 -isystem /Users/runner/miniconda3/envs/test/include -O3 -DNDEBUG -arch arm64 -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk -dynamiclib -Wl,-headerpad_max_install_names -Wl,-headerpad_max_install_names -Wl,-dead_strip_dylibs -Wl,-rpath,/Users/runner/miniconda3/envs/test/lib -L/Users/runner/miniconda3/envs/test/lib   -current_version 0.1.0 -o lib/libmxpp.0.1.dylib -install_name @rpath/libmxpp.0.1.dylib deps/mxpp/CMakeFiles/mxpp.dir/src/MxArray.cpp.o  -Wl,-rpath,/Users/runner/work/robotology-superbuild/robotology-superbuild/msdk_R2020a_mexmaci64/bin/maci64  /Users/runner/work/robotology-superbuild/robotology-superbuild/msdk_R2020a_mexmaci64/bin/maci64/libmx.dylib && :
ld: warning: ignoring file /Users/runner/work/robotology-superbuild/robotology-superbuild/msdk_R2020a_mexmaci64/bin/maci64/libmx.dylib, building for macOS-arm64 but attempting to link with file built for macOS-x86_64
Undefined symbols for architecture arm64:
  "_mxArrayToString_800", referenced from:
      mxpp::MxArray::asString(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>&) in MxArray.cpp.o
  "_mxFree_800", referenced from:
      mxpp::MxArray::asString(std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>&) in MxArray.cpp.o
  "_mxGetCell_800", referenced from:
      mxpp::MxArray::asMxCell(std::__1::vector<std::__1::shared_ptr<mxpp::MxArray>, std::__1::allocator<std::__1::shared_ptr<mxpp::MxArray>>>&) in MxArray.cpp.o
  "_mxGetClassID_800", referenced from:
      mxpp::MxArray::MxArray(mxArray_tag const*, bool) in MxArray.cpp.o
  "_mxGetDimensions_800", referenced from:
      mxpp::MxArray::MxArray(mxArray_tag const*, bool) in MxArray.cpp.o
  "_mxGetFieldByNumber_800", referenced from:
      mxpp::MxArray::asMxStruct(std::__1::unordered_map<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>, std::__1::shared_ptr<mxpp::MxArray>, std::__1::hash<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>>, std::__1::equal_to<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>>, std::__1::allocator<std::__1::pair<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>> const, std::__1::shared_ptr<mxpp::MxArray>>>>&) in MxArray.cpp.o
  "_mxGetFieldNameByNumber_800", referenced from:
      mxpp::MxArray::asMxStruct(std::__1::unordered_map<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>, std::__1::shared_ptr<mxpp::MxArray>, std::__1::hash<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>>, std::__1::equal_to<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>>, std::__1::allocator<std::__1::pair<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>> const, std::__1::shared_ptr<mxpp::MxArray>>>>&) in MxArray.cpp.o
  "_mxGetM_800", referenced from:
      mxpp::MxArray::MxArray(mxArray_tag const*, bool) in MxArray.cpp.o
  "_mxGetN_800", referenced from:
      mxpp::MxArray::MxArray(mxArray_tag const*, bool) in MxArray.cpp.o
  "_mxGetNumberOfDimensions_800", referenced from:
      mxpp::MxArray::MxArray(mxArray_tag const*, bool) in MxArray.cpp.o
  "_mxGetNumberOfElements_800", referenced from:
      mxpp::MxArray::MxArray(mxArray_tag const*, bool) in MxArray.cpp.o
      mxpp::MxArray::asMxCell(std::__1::vector<std::__1::shared_ptr<mxpp::MxArray>, std::__1::allocator<std::__1::shared_ptr<mxpp::MxArray>>>&) in MxArray.cpp.o
  "_mxGetNumberOfFields_800", referenced from:
      mxpp::MxArray::asMxStruct(std::__1::unordered_map<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>, std::__1::shared_ptr<mxpp::MxArray>, std::__1::hash<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>>, std::__1::equal_to<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>>>, std::__1::allocator<std::__1::pair<std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>> const, std::__1::shared_ptr<mxpp::MxArray>>>>&) in MxArray.cpp.o
  "_mxGetPr_800", referenced from:
      mxpp::MxArray::asVectorDouble(std::__1::vector<double, std::__1::allocator<double>>&) in MxArray.cpp.o
  "_mxGetScalar_800", referenced from:
      mxpp::MxArray::Impl::asScalar(double&) in MxArray.cpp.o
      mxpp::MxArray::asInt(int&) in MxArray.cpp.o
      mxpp::MxArray::asUInt(unsigned int&) in MxArray.cpp.o
      mxpp::MxArray::asInt32(int&) in MxArray.cpp.o
      mxpp::MxArray::asDouble(double&) in MxArray.cpp.o
  "_mxIsComplex_800", referenced from:
      mxpp::MxArray::asVectorDouble(std::__1::vector<double, std::__1::allocator<double>>&) in MxArray.cpp.o
  "_mxIsDouble_800", referenced from:
      mxpp::MxArray::asVectorDouble(std::__1::vector<double, std::__1::allocator<double>>&) in MxArray.cpp.o
  "_mxIsLogicalScalarTrue_800", referenced from:
      mxpp::MxArray::asBool(bool&) in MxArray.cpp.o
  "_mxIsLogicalScalar_800", referenced from:
      mxpp::MxArray::asBool(bool&) in MxArray.cpp.o
  "_mxIsNumeric_800", referenced from:
      mxpp::MxArray::Impl::asScalar(double&) in MxArray.cpp.o
      mxpp::MxArray::asInt(int&) in MxArray.cpp.o
      mxpp::MxArray::asUInt(unsigned int&) in MxArray.cpp.o
      mxpp::MxArray::asInt32(int&) in MxArray.cpp.o
      mxpp::MxArray::asDouble(double&) in MxArray.cpp.o
  "_mxIsScalar_800", referenced from:
      mxpp::MxArray::Impl::asScalar(double&) in MxArray.cpp.o
      mxpp::MxArray::MxArray(mxArray_tag const*, bool) in MxArray.cpp.o
      mxpp::MxArray::asInt(int&) in MxArray.cpp.o
      mxpp::MxArray::asUInt(unsigned int&) in MxArray.cpp.o
      mxpp::MxArray::asInt32(int&) in MxArray.cpp.o
      mxpp::MxArray::asDouble(double&) in MxArray.cpp.o
ld: symbol(s) not found for architecture arm64
clang-16: error: linker command failed with exit code 1 (use -v to see invocation)
[6/27] Building CXX object sources/Core/CMakeFiles/Core.dir/src/Parameter.cpp.o

traversaro · 2024-01-30T23:50:52Z

Cool, disabling ICUB_HEAD, ROBOT_TESTING and MATLAB the CI on Apple Silicon is successful in ~23 minutes: https://github.com/robotology/robotology-superbuild/actions/runs/7718783179/job/21040755061 .

traversaro · 2024-01-31T10:28:36Z

ROBOTOLOGY_ENABLE_ICUB_HEAD support is blocked by conda-forge/ace-feedstock#29, while I opened robotology/blocktest#66 to track the problem blocking ROBOTOLOGY_ENABLE_ROBOT_TESTING.

traversaro · 2024-01-31T11:09:12Z

There are still some CMake failures in finding Matlab, but it seems related to old FindMatlab.cmake files hanging around, see #1044 for the issue tracking that.

traversaro · 2024-02-01T09:07:29Z

Stable branch passing: https://github.com/robotology/robotology-superbuild/actions/runs/7738402350/job/21099140928?pr=1589 . The Unstable branch is not passing, probably we have a few repo still on devel, it could make sense to just use master on all those low dev repos.

traversaro · 2024-02-01T14:25:54Z

Finally green, merging.

DanielePucci · 2024-02-04T11:06:08Z

Thanks @traversaro, I am sure I will be among those who will benefit from this.

Add CI support for macos-14 Apple Silicon

d4f0f7c

Bump setup-miniconda to v3

cf7532d

Update install URL for mambaforge on Apple Silicon

6aec673

Disable ROBOT_TESTING and ICUB_HEAD on Apple Silicon CI

d526836

traversaro added 2 commits January 31, 2024 00:24

Disable Matlab on Apple Silicon builds

f58d512

Fix macos12 typo

a80838c

traversaro and others added 3 commits January 31, 2024 09:39

Add msdk for maca64

351482a

Update ci.yml

990cc0e

Document options not supported on Apple Silicon

8fa1267

Bump casadi-matlab-bindings to v3.6.3.1

165443d

ProjectsTagsUnstable: Use default branch for WBToolbox and BlockFactory

bc8faaf

traversaro merged commit 3dac05c into master Feb 1, 2024
34 checks passed

traversaro deleted the addmacosm1ci branch February 1, 2024 14:26

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Add CI support for macos-14 Apple Silicon #1589

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Add CI support for macos-14 Apple Silicon #1589

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