Support macOS Big Sur 11.0 on x86_64

[jamiesnape]

Note for Ubuntu users, the Apple compiler, version 12.0, behaves most like Clang 10. If a build fails with Clang 10, it will probably fail on macOS Big Sur (and on Catalina once Xcode 12 is released).

For macOS Big Sur 11.0 on arm64, see #13514. For Xcode 12 on macOS Catalina 10.15, see #14085.

[jamiesnape]

We would need to decide what to do about -Wrange-loop-analysis warnings/errors. They are trivial to fix, but not something that GCC, Clang 9, or Xcode 11 picks up.

(Relates more directly #14085.)

[jamiesnape]

Only real error I am seeing is (and this is literally a cut-and-paste without even considering the cause):

FAIL: //examples/manipulation_station:end_effector_teleop_sliders_test
INFO: From Testing //examples/manipulation_station:end_effector_teleop_sliders_test:
==================== Test output for //examples/manipulation_station:end_effector_teleop_sliders_test:
Traceback (most recent call last):
  File ".../execroot/drake/bazel-out/darwin-opt/bin/examples/manipulation_station/end_effector_teleop_sliders_test.runfiles/drake/examples/manipulation_station/end_effector_teleop_sliders.py", line 10, in <module>
    from pydrake.examples.manipulation_station import (
ImportError: ImportError: ImportError: ImportError: C++ type is not registered in pybind: NSt3__112basic_stringIcNS_11char_traitsIcEENS_9allocatorIcEEEE
================================================================================

FYI @EricCousineau-TRI.

[EricCousineau-TRI]

Huh... That smells like pybind11/stl.h isn't included in maniptulation_station_py.cc... but that should show up in more than a specific flavor of macOS.

Also, at least in that module, it's included:

drake/bindings/pydrake/examples/manipulation_station_py.cc

Line 3 in aa4de29

#include "pybind11/stl.h"

Can you see about debugging this to trace which specific module this occurred in?
From the stack of ImportError: ImportError: ImportError: ImportError:, it looks like it's probably something in pydrake/common?

(Looking..)

Can you trying adding pybind11/stl.h to this file and see if it works?
https://github.com/RobotLocomotion/drake/blob/aa4de29980976229c9d1897d0399d5c484e2ebdf/bindings/pydrake/common/value_py.cc

[jamiesnape]

Just for fun, I added #include "pybind11/stl.h" to every bindings file, with no luck. Will revisit some other time. I feel like looking at the libc++ source code is going to be in order.

(I selfishly wish we had libc++ Linux builds so someone else gets burned...)

[EricCousineau-TRI]

ahhh, nuts! I sent you down the wrong rabbit hole, sorry!

The error actually comes from here:

drake/bindings/pydrake/common/cpp_param_pybind.cc

Lines 104 to 108 in 688a07c

	// TODO(eric.cousineau): Use NiceTypeName::Canonicalize(...Demangle(...))
	// once simpler dependencies are used (or something else is used to
	// justify linking in `libdrake.so`).
	const std::string name = tinfo.name();
	throw std::runtime_error("C++ type is not registered in pybind: " + name);

Probably just some RTTI mismatch? (private / public shindig, like what motivated #8706, which was then reverted in #13225?)

[jamiesnape]

Getting the useful error message macOS 11 or later required ! when running on macOS 11 from five or so Python-related tests. Need to track down where that is coming from.

[jamiesnape]

Probably in tkinter.

[jamiesnape]

Ok, that is fixed in Python 3.9, but then other things are broken (basically the same as on Catalina), so I need to do the Python 3.9 upgrade either first or concurrently.

[jamiesnape]

Homebrew/homebrew-core#67378 is why Python 3.9 is working.

[jamiesnape]

Homebrew/homebrew-core#70249 might make my life a little easier.

[jamiesnape]

Looks like the CI images got hit by the 11.0.1 instead of 11.1 upgrade bug, which I need to fix (not difficult, but annoying) otherwise we forever be stuck on 11.0.1 (which affects Xcode versions and other things).

[jamiesnape]

All Jenkins jobs have been created, have run successfully multiple times, and are listed on the production pages.