Update supported Clang to 6.0 and add support for Bionic and Mojave

CMakeLists.txt

@@ -14,6 +14,55 @@ if(CYGWIN OR NOT UNIX)
   message(FATAL_ERROR "Cygwin and non-Unix platforms are NOT supported")
 endif()
 
+set(UNIX_DISTRIBUTION_ID)
+set(UNIX_DISTRIBUTION_RELEASE)
+
+if(UNIX AND NOT APPLE)
+  find_program(LSB_RELEASE_EXECUTABLE NAMES lsb_release)
+
+  if(NOT LSB_RELEASE_EXECUTABLE)
+    message(FATAL_ERROR "Could NOT find the lsb_release executable")
+  endif()
+
+  execute_process(COMMAND "${LSB_RELEASE_EXECUTABLE}" --id --short
+    RESULT_VARIABLE LSB_RELEASE_ID_SHORT_RESULT_VARIABLE
+    OUTPUT_VARIABLE LSB_RELEASE_ID_SHORT_OUTPUT_VARIABLE
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+  )
+
+  if(LSB_RELEASE_ID_SHORT_RESULT_VARIABLE EQUAL 0)
+    set(UNIX_DISTRIBUTION_ID "${LSB_RELEASE_ID_SHORT_OUTPUT_VARIABLE}")
+  endif()
+
+  if(NOT UNIX_DISTRIBUTION_ID STREQUAL Ubuntu)
+     message(FATAL_ERROR
+       "Distribution ${UNIX_DISTRIBUTION_ID} is NOT supported"
+     )
+  endif()
+
+  string(TOLOWER "${UNIX_DISTRIBUTION_ID}" UNIX_DISTRIBUTION_ID)
+
+  execute_process(COMMAND "${LSB_RELEASE_EXECUTABLE}" --release --short
+    RESULT_VARIABLE LSB_RELEASE_RELEASE_SHORT_RESULT_VARIABLE
+    OUTPUT_VARIABLE LSB_RELEASE_RELEASE_SHORT_OUTPUT_VARIABLE
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+  )
+
+  if(LSB_RELEASE_RELEASE_SHORT_RESULT_VARIABLE EQUAL 0)
+    set(UNIX_DISTRIBUTION_RELEASE
+      "${LSB_RELEASE_RELEASE_SHORT_OUTPUT_VARIABLE}"
+    )
+  endif()
+
+  # The supported releases should match those listed in both doc/developers.rst
+  # and tools/workspace/os.bzl.
+  if(NOT UNIX_DISTRIBUTION_RELEASE MATCHES "^(16.04|18.04)$")
+     message(FATAL_ERROR
+       "Release ${UNIX_DISTRIBUTION_RELEASE} is NOT supported"
+     )
+  endif()
+endif()
+
 # The version passed to find_package(Bazel) should match the
 # minimum_bazel_version value in the call to versions.check() in WORKSPACE.
 set(MINIMUM_BAZEL_VERSION 0.16.1)
@@ -33,8 +82,8 @@ endif()
 
 # The minimum compiler versions should match those listed in both
 # doc/developers.rst and tools/workspace/cc/repository.bzl.
-set(MINIMUM_APPLE_CLANG_VERSION 9)
-set(MINIMUM_CLANG_VERSION 4)
+set(MINIMUM_APPLE_CLANG_VERSION 10)
+set(MINIMUM_CLANG_VERSION 6)
 set(MINIMUM_GNU_VERSION 5.4)
 
 if(CMAKE_C_COMPILER_ID STREQUAL AppleClang)
@@ -308,7 +357,7 @@ else()
   set(CPACK_DEBIAN_PACKAGE_RELEASE 1)
   set(CPACK_DEBIAN_PACKAGE_SECTION contrib/devel)
 
-  file(STRINGS setup/ubuntu/16.04/binary_distribution/packages.txt
+  file(STRINGS "setup/${UNIX_DISTRIBUTION_ID}/${UNIX_DISTRIBUTION_RELEASE}/binary_distribution/packages.txt"
     CPACK_DEBIAN_PACKAGE_DEPENDS
   )
   string(REGEX REPLACE "([a-z0-9\\-]+)=([a-z0-9\\-\\.~]+)" "\\1 (= \\2)"

doc/bazel.rst

@@ -4,8 +4,9 @@
 Bazel build system
 ******************
 
-The Bazel build system is officially supported for a subset of Drake on
-Ubuntu Xenial and macOS.
+The Bazel build system is officially supported for a subset of Drake on Ubuntu
+Xenial and Bionic and macOS High Sierra and Mojave.
+
 For more information, see:
 
  * https://bazel.build/
@@ -37,19 +38,23 @@ target label (and optional configuration options if desired).  We give some
 typical examples below; for more reading about target patterns, see:
 https://docs.bazel.build/versions/master/user-manual.html#target-patterns.
 
-On Ubuntu Xenial, the default compiler is the first ``gcc`` compiler in the
-``PATH``, usually GCC 5.4. On macOS, the default compiler is Apple Clang. To
-use Clang 4.0 on Ubuntu Xenial, set the ``CC`` and ``CXX`` environment
-variables before running **bazel build**, **bazel test**, or any other
-**bazel** commands.
+On Ubuntu, the default compiler is the first ``gcc`` compiler in the
+``PATH``, usually GCC 5.4 on Xenial and GCC 7.3 on Bionic. On macOS, the
+default compiler is the Apple LLVM compiler. To use Clang 6.0 on Ubuntu, set
+the ``CC`` and ``CXX`` environment variables before running **bazel build**,
+**bazel test**, or any other **bazel** commands.
 
 Cheat sheet for operating on the entire project::
 
   cd /path/to/drake
   bazel build //...                               # Build the entire project.
   bazel test //...                                # Build and test the entire project.
-  CC=clang-4.0 CXX=clang++-4.0 bazel build //...  # Build using Clang 4.0 on Xenial.
-  CC=clang-4.0 CXX=clang++-4.0 bazel test //...   # Build and test using Clang 4.0 on Xenial.
+
+  CC=clang-6.0 CXX=clang++-6.0 bazel build //...  # Build using Clang 6.0 on Xenial.
+  CC=clang-6.0 CXX=clang++-6.0 bazel test //...   # Build and test using Clang 6.0 on Xenial.
+
+  CC=clang CXX=clang++ bazel build //...          # Build using Clang 6.0 on Bionic.
+  CC=clang CXX=clang++ bazel test //...           # Build and test using Clang 6.0 on Bionic.
 
 - The "``//``" means "starting from the root of the project".
 - The "``...``" means "everything including the subdirectories' ``BUILD`` files".

doc/developers.rst

@@ -76,27 +76,34 @@ integration. All other configurations are provided on a best-effort basis.
 Drake requires a compiler running in C++14 mode or greater. MATLAB is only
 supported for CMake builds using the "Unix Makefiles" generator.
 
-+-----------------------------+-----------------+--------------------+------------+-------------------+--------+
-| Operating System            | Build System    | C/C++ Compiler     | Java       | MATLAB (Optional) | Python |
-+=============================+=================+====================+============+===================+========+
-+-----------------------------+-----------------+--------------------+------------+-------------------+--------+
-| Ubuntu 16.04 LTS ("Xenial") | | Bazel 0.16.1  | | Clang 4.0        | OpenJDK 8  | R2017a            | 2.7.11 |
-|                             | | CMake 3.5.1   | | GCC 5.4          |            |                   |        |
-+-----------------------------+-----------------+--------------------+------------+                   +--------+
-| macOS 10.12 ("Sierra")      | | Bazel 0.16.1  | Apple Clang 9.0.0  | Oracle 10  |                   | 2.7.15 |
-+-----------------------------+ | CMake 3.12.1  |                    |            +-------------------+        |
-| macOS 10.13 ("High Sierra") |                 |                    |            | R2017b            |        |
-+-----------------------------+-----------------+--------------------+------------+-------------------+--------+
-
-macOS 10.13 ("High Sierra") MATLAB support is experimental and untested in continuous
++----------------------------------+-----------------+-----------------+------------+-------------------+--------+
+| Operating System                 | Build System    | C/C++ Compiler  | Java       | MATLAB (Optional) | Python |
++==================================+=================+=================+============+===================+========+
++----------------------------------+-----------------+-----------------+------------+-------------------+--------+
+| Ubuntu 16.04 LTS (Xenial Xerus)  | | Bazel 0.16.1  | | Clang 6.0     | OpenJDK 8  | R2017a            | 2.7.11 |
+|                                  | | CMake 3.5.1   | | GCC 5.4       |            |                   |        |
++----------------------------------+-----------------+-----------------+------------+-------------------+--------+
+| Ubuntu 18.04 LTS (Bionic Beaver) | | Bazel 0.17.2  | | Clang 6.0     | OpenJDK 11 | R2018b            | 2.7.15 |
+|                                  | | CMake 3.10.2  | | GCC 7.3       |            |                   |        |
++----------------------------------+-----------------+-----------------+------------+                   |        |
+| macOS High Sierra (10.13)        | | Bazel 0.17.2  | Apple LLVM 10.0 | Oracle 11  |                   |        |
++----------------------------------+ | CMake 3.12.2  |                 |            |                   |        |
+| macOS Mojave (10.14)             |                 |                 |            |                   |        |
++----------------------------------+-----------------+-----------------+------------+-------------------+--------+
+
+
+Ubuntu Bionic C++ and Python support is experimental and has limited testing
+in continuous integration. macOS Mojave C++ and Python support and macOS and
+Ubuntu Bionic MATLAB support is experimental and untested in continuous
 integration.
 
 .. _binary-packages:
 
 Binary Packages
 ---------------
 
-The binary releases of Drake are built with GCC 5.4 on Ubuntu 16.04 and Apple Clang 9.0 on macOS 10.13.
+The binary releases of Drake are built with GCC 5.4 on Ubuntu Xenial and Apple
+LLVM 10.0 on macOS High Sierra.
 
 The links for these packages are listed in :ref:`binary-installation`.
 

doc/faq.rst

@@ -79,7 +79,7 @@ You look at a unittest that builds in Drake, run it, and it builds, runs, and pa
 
 If you look at symbols in the Drake shared library (e.g. ``nm -C`` or ``objdump -TC`` with ``grep``), you see the signature ``RigidBodyTree<double>::get_position_name[abi:cxx11](int)``. However, if you look in the produced object code (which causes the linking to fail), you see ``RigidBodyTree<double>::get_position_name(int)``.
 
-**Solution**: This is most likely due to an incompatibilty between the compiler used to produce Drake (e.g. ``clang-4.0``) and the compiler that CMake has selected (e.g. ``gcc-4.9``). Specifically, ``gcc-4.9`` or before does not tend to handle the DualABI well when linking against ``clang``-compiled code [#dual_abi]_. You may be able to use other functions, because only functions that return an ABI-dependent class (e.g. ``std::string``) are tagged with the ABI that they are using (since they cannot be distinguished in the function signature).
+**Solution**: This is most likely due to an incompatibilty between the compiler used to produce Drake (e.g. ``clang``) and the compiler that CMake has selected (e.g. ``gcc-4.9``). Specifically, ``gcc-4.9`` or before does not tend to handle the DualABI well when linking against ``clang``-compiled code [#dual_abi]_. You may be able to use other functions, because only functions that return an ABI-dependent class (e.g. ``std::string``) are tagged with the ABI that they are using (since they cannot be distinguished in the function signature).
 
 The fix is to change the compiler CMake is using. One way to do this is to set the ``CC`` and ``CXX`` environment variables to use a supported compiler. For a list of supported compilers, see :ref:`supported-configurations`. If you are using pre-compiled binaries [#binary_install]_, please refer to the :ref:`binary-packages` for the compilers used.
 

doc/from_source.rst

@@ -48,7 +48,7 @@ setup steps:
     :maxdepth: 1
 
     mac
-    ubuntu_xenial
+    ubuntu
 
 See :ref:`supported configurations <supported-configurations>`
 for the configurations and platforms that Drake officially supports.

doc/mac.rst

@@ -4,11 +4,9 @@ macOS
 
 We assume that you have already installed:
 
-* Xcode 9 or above (from the `Mac App Store <https://itunes.apple.com/us/app/xcode/id497799835>`_)
-  and the Command Line Tools for Xcode (``xcode-select --install``)
-* `Java SE Development Kit 8 <http://www.oracle.com/technetwork/java/javase/downloads/jdk8-downloads-2133151.html>`_
+* Xcode 10 or above (from the `Mac App Store <https://itunes.apple.com/us/app/xcode/id497799835>`_)
 
-Prerequisite setup is automated. Simply run::
+Prerequisite setup is otherwise automated. Simply run::
 
     ./setup/mac/install_prereqs.sh
 

doc/ubuntu.rst

@@ -0,0 +1,19 @@
+.. _build_from_source_ubuntu:
+
+******
+Ubuntu
+******
+
+Prerequisite setup is automated. For Ubuntu Xenial, simply run::
+
+    sudo ./setup/ubuntu/16.04/install_prereqs.sh
+
+For Ubuntu Bionic, simply run::
+
+    sudo ./setup/ubuntu/18.04/install_prereqs.sh
+
+You may need to respond to interactive prompts to confirm that you agree to add
+the appropriate Drake `apt` repository for your release
+(``https://drake-apt.csail.mit.edu/xenial/`` or
+``https://drake-apt.csail.mit.edu/bionic/``) to your system for certain
+development packages.

setup/ubuntu/16.04/binary_distribution/packages.txt

@@ -1,6 +1,7 @@
 coinor-libclp1
 coinor-libcoinutils3v5
 coinor-libipopt1v5
+default-jre
 libblas3
 libboost-all-dev
 libexpat1
@@ -28,7 +29,6 @@ libtinyxml2.6.2v5
 libxml2
 libxt6
 libyaml-cpp0.5v5
-openjdk-8-jre
 python
 python-lxml
 python-matplotlib

setup/ubuntu/16.04/source_distribution/packages.txt

@@ -1,8 +1,9 @@
 bash-completion
-clang-4.0
-clang-format-4.0
+clang-6.0
+clang-format-6.0
 coinor-libclp-dev
 coinor-libipopt-dev
+default-jdk
 diffstat
 doxygen
 file
@@ -13,7 +14,7 @@ graphviz
 kcov-35
 libblas-dev
 libbz2-dev
-libclang-4.0-dev
+libclang-6.0-dev
 libexpat1-dev
 libfreetype6-dev
 libglib2.0-dev
@@ -37,8 +38,7 @@ libtool
 libxml2-dev
 libxt-dev
 libyaml-cpp-dev
-lldb-4.0
-openjdk-8-jdk
+lldb-6.0
 patchelf
 patchutils
 pkg-config

setup/ubuntu/18.04/binary_distribution/packages.txt

@@ -1,6 +1,7 @@
 coinor-libclp1
 coinor-libcoinutils3v5
 coinor-libipopt1v5
+default-jre
 libblas3
 libboost-all-dev
 libexpat1
@@ -28,7 +29,6 @@ libtinyxml2.6.2v5
 libxml2
 libxt6
 libyaml-cpp0.5v5
-openjdk-8-jre
 python
 python-lxml
 python-matplotlib

setup/ubuntu/18.04/source_distribution/install_prereqs.sh

@@ -67,6 +67,6 @@ dpkg_install_from_wget() {
 }
 
 dpkg_install_from_wget \
-  bazel 0.16.1 \
-  https://github.com/bazelbuild/bazel/releases/download/0.16.1/bazel_0.16.1-linux-x86_64.deb \
-  c29f9709910ee23879dffe59ad31f5babba7dcbb81244ff319a5ce81da3c9abe
+  bazel 0.17.2 \
+  https://github.com/bazelbuild/bazel/releases/download/0.17.2/bazel_0.17.2-linux-x86_64.deb \
+  74570692dadd05a5892990ab65f136262b572580b29789116aadfa75ea5a3e68

setup/ubuntu/18.04/source_distribution/packages.txt

@@ -1,8 +1,9 @@
 bash-completion
-clang-4.0
-clang-format-4.0
+clang
+clang-format
 coinor-libclp-dev
 coinor-libipopt-dev
+default-jdk
 diffstat
 doxygen
 file
@@ -13,7 +14,7 @@ graphviz
 kcov-35
 libblas-dev
 libbz2-dev
-libclang-4.0-dev
+libclang-6.0-dev
 libexpat1-dev
 libfreetype6-dev
 libglib2.0-dev
@@ -37,8 +38,7 @@ libtool
 libxml2-dev
 libxt-dev
 libyaml-cpp-dev
-lldb-4.0
-openjdk-8-jdk
+lldb
 patchelf
 patchutils
 pkg-config

tools/dynamic_analysis/bazel.rc

@@ -179,16 +179,15 @@ test:tsan_everything --test_timeout=300,1500,5400,18000
 ### UBSan build. ###
 build:ubsan --copt -g
 build:ubsan --copt -fsanitize=undefined
-build:ubsan --copt -fno-sanitize=float-divide-by-zero
+# Since Bazel uses clang instead of clang++, enabling -fsanitize=vptr would
+# require extra linkopts that cause segmentation faults on pure C code.
+build:ubsan --copt -fno-sanitize=float-divide-by-zero,vptr
 build:ubsan --copt -O1
 build:ubsan --copt -fno-omit-frame-pointer
 # TODO(jamiesnape): Find a solution to using sanitizer blacklists with the
 # autogenerated toolchain.
 # build:ubsan --copt -fsanitize-blacklist=tools/dynamic_analysis/ubsan.blacklist
 build:ubsan --linkopt -fsanitize=undefined
-# https://groups.google.com/forum/#!topic/bazel-discuss/15h4GPixeGI
-build:ubsan --linkopt /usr/lib/llvm-4.0/lib/clang/4.0.0/lib/linux/libclang_rt.ubsan_standalone_cxx-x86_64.a
-build:ubsan --linkopt /usr/lib/llvm-4.0/lib/clang/4.0.0/lib/linux/libclang_rt.ubsan_standalone-x86_64.a
 test:ubsan --run_under=//tools/dynamic_analysis:ubsan
 test:ubsan --test_env=UBSAN_OPTIONS
 test:ubsan --test_tag_filters=-gurobi,-mosek,-snopt,-no_ubsan
@@ -203,16 +202,16 @@ build:ubsan_everything --define=WITH_MOSEK=ON
 build:ubsan_everything --define=WITH_SNOPT=ON
 build:ubsan_everything --copt -g
 build:ubsan_everything --copt -fsanitize=undefined
-build:ubsan_everything --copt -fno-sanitize=float-divide-by-zero
+# Since Bazel uses clang instead of clang++, enabling -fsanitize=vptr would
+# require extra linkopts that cause segmentation faults on pure C code.
+# TODO(jamiesnape): Enable -fsanitize=pointer-overflow when SNOPT is fixed.
+build:ubsan_everything --copt -fno-sanitize=float-divide-by-zero,pointer-overflow,vptr
 build:ubsan_everything --copt -O1
 build:ubsan_everything --copt -fno-omit-frame-pointer
 # TODO(jamiesnape): Find a solution to using sanitizer blacklists with the
 # autogenerated toolchain.
 # build:ubsan_everything --copt -fsanitize-blacklist=tools/dynamic_analysis/ubsan.blacklist
 build:ubsan_everything --linkopt -fsanitize=undefined
-# https://groups.google.com/forum/#!topic/bazel-discuss/15h4GPixeGI
-build:ubsan_everything --linkopt /usr/lib/llvm-4.0/lib/clang/4.0.0/lib/linux/libclang_rt.ubsan_standalone_cxx-x86_64.a
-build:ubsan_everything --linkopt /usr/lib/llvm-4.0/lib/clang/4.0.0/lib/linux/libclang_rt.ubsan_standalone-x86_64.a
 test:ubsan_everything --test_tag_filters=-no_ubsan
 test:ubsan_everything --run_under=//tools/dynamic_analysis:ubsan
 test:ubsan_everything --test_env=UBSAN_OPTIONS

tools/lint/clang_format.py

@@ -9,7 +9,7 @@ def get_clang_format_path():
     if sys.platform == "darwin":
         path = "/usr/local/bin/clang-format"
     else:
-        path = "/usr/bin/clang-format-4.0"
+        path = "/usr/bin/clang-format-6.0"
     if os.path.isfile(path):
         return path
     raise RuntimeError("Could not find required clang-format at " + path)