[ci] Update macOS to 11

ports/sdformat6/disable-unneeded-include-findboost.patch

@@ -0,0 +1,12 @@
+diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
+index c2a0ee4..2735a07 100644
+--- a/cmake/SearchForStuff.cmake
++++ b/cmake/SearchForStuff.cmake
+@@ -13,7 +13,6 @@ if (WIN32)
+   set(Boost_USE_STATIC_RUNTIME    OFF)
+ endif()
+
+-include(FindBoost)
+ find_package(Boost ${MIN_BOOST_VERSION})
+
+ if (NOT Boost_FOUND)

ports/sdformat6/portfile.cmake

@@ -6,6 +6,8 @@ vcpkg_from_github(
     REF sdformat6_6.2.0
     SHA512 3d139ec4b4c9fbfd547ed8bfca0adb5cdca92c1b7cc4d4b554a7c51ccf755b9079c26a006ebfedc5bc5b1ba5e16ad950bb38c47ea97bf97e59a2fd7d12d60620
     HEAD_REF sdf6
+    PATCHES
+        disable-unneeded-include-findboost.patch
 )
 
 # Ruby is required by the sdformat build process

ports/sdformat6/vcpkg.json

@@ -0,0 +1,15 @@
+{
+  "name": "sdformat6",
+  "version": "6.2.0",
+  "port-version": 2,
+  "description": "Simulation Description Format (SDF) parser and description files.",
+  "homepage": "http://sdformat.org/",
+  "supports": "!(arm | uwp)",
+  "dependencies": [
+    "boost-any",
+    "boost-variant",
+    "ignition-math4",
+    "tinyxml",
+    "urdfdom"
+  ]
+}

scripts/azure-pipelines/azure-pipelines.yml

@@ -4,7 +4,7 @@
 variables:
   windows-pool: 'PrWin-2021-04-23'
   linux-pool: 'PrLin-2021-04-25'
-  osx-pool: 'PrOsx-2020-09-28'
+  osx-pool: 'PrOsx-2021-04-16'
 
 stages:
 - stage: FormatChecks

scripts/azure-pipelines/osx/Install-Prerequisites.ps1

@@ -8,10 +8,7 @@ Installs the set of prerequisites for the macOS CI hosts.
 .DESCRIPTION
 Install-Prerequisites.ps1 installs all of the necessary prerequisites
 to run the vcpkg macOS CI in a vagrant virtual machine,
-skipping all prerequisites that are already installed.
-
-.PARAMETER Force
-Don't skip the prerequisites that are already installed.
+skipping all prerequisites that are already installed and of the right version.
 
 .INPUTS
 None
@@ -20,10 +17,7 @@ None
 None
 #>
 [CmdletBinding()]
-Param(
-    [Parameter()]
-    [Switch]$Force
-)
+Param()
 
 Set-StrictMode -Version 2
 
@@ -37,21 +31,51 @@ Import-Module "$PSScriptRoot/Utilities.psm1"
 $Installables = Get-Content "$PSScriptRoot/configuration/installables.json" | ConvertFrom-Json
 
 $Installables.Applications | ForEach-Object {
-    if (-not (Get-CommandExists $_.TestCommand)) {
+    $VersionCommand = $_.VersionCommand
+    $InstalledVersion = (& $VersionCommand[0] $VersionCommand[1..$VersionCommand.Length])
+    if (-not $?) {
         Write-Host "$($_.Name) not installed; installing now"
-    } elseif ($Force) {
-        Write-Host "$($_.Name) found; attempting to upgrade or re-install"
     } else {
-        Write-Host "$($_.Name) already installed"
-        return
+        $InstalledVersion = $InstalledVersion -join "`n"
+        if ($InstalledVersion -match $_.VersionRegex) {
+            if ($Matches.Count -ne 2) {
+                Write-Error "$($_.Name) has a malformed version regex ($($_.VersionRegex)); it should have a single capture group
+    (it has $($Matches.Count - 1))"
+                throw
+            }
+            if ($Matches[1] -eq $_.Version) {
+                Write-Host "$($_.Name) already installed and at the correct version ($($Matches[1]))"
+                return
+            } else {
+                Write-Host "$($_.Name) already installed but with the incorrect version
+    installed version: '$($Matches[1])'
+    required version : '$($_.Version)'
+upgrading now."
+            }
+        } else {
+            Write-Warning "$($_.Name)'s version command ($($VersionCommand -join ' ')) returned a value we did not expect:
+    $InstalledVersion
+    expected a version matching the regex: $($_.VersionRegex)
+Installing anyways."
+        }
     }
 
-    $pathToDmg = "~/Downloads/$($_.Name).dmg"
-    Get-RemoteFile -OutFile $pathToDmg -Uri $_.DmgUrl -Sha256 $_.Sha256
+    if ($null -ne (Get-Member -InputObject $_ -Name 'DmgUrl')) {
+        $pathToDmg = "~/Downloads/$($_.Name).dmg"
+        Get-RemoteFile -OutFile $pathToDmg -Uri $_.DmgUrl -Sha256 $_.Sha256
+
+        hdiutil attach $pathToDmg -mountpoint /Volumes/setup-installer
+        sudo installer -pkg "/Volumes/setup-installer/$($_.InstallerPath)" -target /
+        hdiutil detach /Volumes/setup-installer
+    } elseif ($null -ne (Get-Member -InputObject $_ -Name 'PkgUrl')) {
+        $pathToPkg = "~/Downloads/$($_.Name).pkg"
+        Get-RemoteFile -OutFile $pathToPkg -Uri $_.PkgUrl -Sha256 $_.Sha256
 
-    hdiutil attach $pathToDmg -mountpoint /Volumes/setup-installer
-    sudo installer -pkg "/Volumes/setup-installer/$($_.InstallerPath)" -target /
-    hdiutil detach /Volumes/setup-installer
+        sudo installer -pkg $pathToPkg -target /
+    } else {
+        Write-Error "$($_.Name) does not have an installer in the configuration file."
+        throw
+    }
 }
 
 $Installables.Brew | ForEach-Object {
@@ -64,31 +88,45 @@ $Installables.Brew | ForEach-Object {
             default {
                 Write-Error "Invalid kind: $_. Expected either empty, or 'cask'."
             }
-         }
-     }
+        }
+    }
 }
-
-# Install plugins
-$installedExtensionPacks = Get-InstalledVirtualBoxExtensionPacks
-
-$Installables.VBoxExtensions | ForEach-Object {
-    $extension = $_
-    $installedExts = $installedExtensionPacks | Where-Object { $_.Pack -eq $extension.FullName -and $_.Usable -eq 'true' }
-
-    if ($null -eq $installedExts) {
-        Write-Host "VBox extension: $($extension.Name) not installed; installing now"
-    } elseif ($Force) {
-        Write-Host "VBox extension: $($extension.Name) found; attempting to upgrade or re-install"
+brew upgrade
+
+$installedVagrantPlugins = @{}
+vagrant plugin list --machine-readable | ForEach-Object {
+    $timestamp, $target, $type, $data = $_ -split ','
+    switch ($type) {
+        # these are not important
+        'ui' { }
+        'plugin-version-constraint' { }
+        'plugin-name' {
+            $installedVagrantPlugins[$data] = $Null
+        }
+        'plugin-version' {
+            $version = $data -replace '%!\(VAGRANT_COMMA\)',','
+            if ($version -notmatch '^(.*), global') {
+                Write-Error "Invalid version string for plugin ${target}: $version"
+                throw
+            }
+            $installedVagrantPlugins[$target] = $Matches[1]
+        }
+        default {
+            Write-Warning "Unknown plugin list member type $type for plugin $target"
+        }
+    }
+}
+$Installables.VagrantPlugins | ForEach-Object {
+    if (-not $installedVagrantPlugins.Contains($_.Name)) {
+        Write-Host "$($_.Name) not installed; installing now"
+    } elseif ($installedVagrantPlugins[$_.Name] -ne $_.Version) {
+        Write-Host "$($_.Name) already installed but with the incorrect version
+    installed version: '$($installedVagrantPlugins[$_.Name])'
+    required version:  '$($_.Version)'"
     } else {
-        Write-Host "VBox extension: $($extension.Name) already installed"
+        Write-Host "$($_.Name) already installed and at the correct version ($($_.Version))"
         return
     }
 
-    $pathToExt = "~/Downloads/$($extension.FullName -replace ' ','_').vbox-extpack"
-
-    Get-RemoteFile -OutFile $pathToExt -Uri $extension.Url -Sha256 $extension.Sha256 | Out-Null
-
-    Write-Host 'Attempting to install extension with sudo; you may need to enter your password'
-    sudo VBoxManage extpack install --replace $pathToExt
-    sudo VBoxManage extpack cleanup
+    vagrant plugin install $_.Name --plugin-version $_.Version
 }

scripts/azure-pipelines/osx/README.md

@@ -6,6 +6,10 @@
   - [Table of Contents](#table-of-contents)
   - [Basic Usage](#basic-usage)
   - [Setting up a new macOS machine](#setting-up-a-new-macos-machine)
+    - [Troubleshooting](#troubleshooting)
+  - [Creating a new Vagrant box](#creating-a-new-vagrant-box)
+    - [VM Software Versions](#vm-software-versions)
+    - [(Internal) Accessing the macOS fileshare](#internal-accessing-the-macos-fileshare)
 
 ## Basic Usage
 
@@ -70,7 +74,7 @@ for the physical machine; i.e., vcpkgmm-04 would use 04.
 $ ./Setup-VagrantMachines.ps1 \
   -MachineId XX \
   -DevopsPat '<get this from azure devops; it needs agent pool read and manage access>' \
-  -Date <this is the date of the pool; 2020-09-28 at time of writing>
+  -Date <this is the date of the pool; 2021-04-16 at time of writing>
 $ cd ~/vagrant/vcpkg-eg-mac
 $ vagrant up
 ```
@@ -89,6 +93,13 @@ $ sudo shutdown -r now
 
 and wait for the machine to start back up. Then, start again from where the error was emitted.
 
+### Troubleshooting
+
+The following are issues that we've run into:
+
+- (with a Parallels box) `vagrant up` doesn't work, and vagrant gives the error that the VM is `'stopped'`.
+  - Try logging into the GUI with the KVM, and retrying `vagrant up`.
+
 ## Creating a new Vagrant box
 
 Whenever we want to install updated versions of the command line tools,
@@ -100,74 +111,99 @@ you can set up your own vagrant boxes that are the same as ours by doing the fol
 
 You'll need some prerequisites:
 
-- macinbox - installable via `sudo gem install macinbox`
 - vagrant - found at <https://www.vagrantup.com/>
-- VirtualBox - found at <https://www.virtualbox.org/>
-- A macOS installer application - you can get this from the App Store (although I believe only the latest is available)
-- An Xcode Command Line Tools installer - you can get this from Apple's developer website,
+  - The vagrant-parallels plugin - `vagrant plugin install vagrant-parallels`
+- Parallels - found at <https://parallels.com>
+- An Xcode installer - you can get this from Apple's developer website,
   although you'll need to sign in first: <https://developer.apple.com/downloads>
 
-First, you'll need to create a base box;
+First, you'll need to create a base VM;
 this is where you determine what version of macOS is installed.
+Just follow the Parallels process for creating a macOS VM.
 
+Once you've done this, you can run through the installation of macOS onto a new VM.
+You should set the username to `vagrant`.
+
+Once it's finished installing, make sure to turn on the SSH server.
+Open System Preferences, then go to Sharing > Remote Login,
+and turn it on.
+You'll then want to add the vagrant SSH keys to the VM's vagrant user.
+Open the terminal application and run the following:
+
+```sh
+$ # basic stuff
+$ date | sudo tee '/etc/vagrant_box_build_time'
+$ printf 'vagrant\tALL=(ALL)\tNOPASSWD:\tALL\n' | sudo tee -a '/etc/sudoers.d/vagrant'
+$ sudo chmod 0440 '/etc/sudoers.d/vagrant'
+$ # then install vagrant keys
+$ mkdir -p ~/.ssh
+$ curl -fsSL 'https://raw.github.com/mitchellh/vagrant/master/keys/vagrant.pub' >~/.ssh/authorized_keys
+$ chmod 0600 ~/.ssh/authorized_keys
 ```
-> sudo macinbox \
-  --box-format virtualbox \
-  --name macos-ci-base \
-  --installer <path to macOS installer> \
-  --no-gui
-```
 
-Once you've done that, create a Vagrantfile that looks like the following:
+Finally, you'll need to install the Parallel Tools.
+From your host, in the top bar,
+go to Actions > Install Parallels Tools...,
+and then follow the instructions.
+
+Now, let's package the VM into a base box.
+(The following instructions are adapted from
+[these official instructions][base-box-instructions]).
 
-```rb
-Vagrant.configure('2') do |config|
-  config.vm.box = 'macos-ci-base'
-  config.vm.boot_timeout = 600
-  config.vm.synced_folder ".", "/vagrant", disabled: true
-end
+Run the following commands:
+
+```sh
+$ cd ~/Parallels
+$ echo '{ "provider": "parallels" }' >metadata.json
+$ tar zgvf <current date>.box ./metadata.json ./<name of VM>.pvm
 ```
 
-then, run the following in that vagrant directory:
+This will create a box file which contains all the necessary data.
+You can delete the `metadata.json` file after.
+
+Once you've done that, you can upload it to the fileshare,
+under `share/boxes/vcpkg-ci-base`, add it to `share/boxes/vcpkg-ci-base.json`,
+and finally add it to vagrant:
 
 ```sh
-$ vagrant up
-$ vagrant scp <path to Command Line Tools for Xcode installer> :clt.dmg
-$ vagrant ssh -c 'hdiutil attach clt.dmg -mountpoint /Volumes/setup-installer'
-$ vagrant ssh -c 'sudo installer -pkg "/Volumes/setup-installer/Command Line Tools.pkg" -target /'
-$ vagrant ssh -c 'hdiutil detach /Volumes/setup-installer'
-$ vagrant ssh -c 'rm clt.dmg'
-$ vagrant ssh -c '/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"'
-$ vagrant reload
+$ vagrant box add ~/vagrant/share/boxes/vcpkg-ci-base.json
 ```
 
-if that works, you can now package the box:
+Then, we'll create the final box,
+which contains all the necessary programs for doing CI work.
+Copy `configuration/Vagrantfile-box.rb` as `Vagrantfile`, and
+`configuration/vagrant-box-configuration.json`
+into a new directory; into that same directory,
+download the Xcode command line tools dmg, and name it `clt.dmg`.
+Then, run the following in that directory:
 
 ```sh
-$ vagrant ssh -c 'umount testmnt && rmdir testmnt'
+$ vagrant up
 $ vagrant package
 ```
 
 This will create a `package.box`, which is the box file for the base VM.
-Then, you can `vagrant box add <package.box> --name <name for the box>`,
-and you'll have the base vcpkg box added for purposes of `Setup-VagrantMachines.ps1`!
-
-Once you've created the base box, if you're making it the new base box for the CI,
-upload it to the fileshare, under `share/vcpkg-boxes`.
-Then, add the metadata about the box (the name and version) to the JSON file there.
+Once you've created this box, if you're making it the new box for the CI,
+upload it to the fileshare, under `share/boxes/vcpkg-ci`.
+Then, add the metadata about the box (the name and version) to
+`share/boxes/vcpkg-ci.json`.
 Once you've done that, add the software versions under [VM Software Versions](#vm-software-versions).
 
+[base-box-instructions]: https://parallels.github.io/vagrant-parallels/docs/boxes/base.html
+
 ### VM Software Versions
 
 * 2020-09-28:
   * macOS: 10.15.6
   * Xcode CLTs: 12
+* 2021-04-16:
+  * macOS: 11.2.3
+  * Xcode CLTs: 12.4
 
 ### (Internal) Accessing the macOS fileshare
 
 The fileshare is located on `vcpkgmm-01`, under the `fileshare` user, in the `share` directory.
 In order to get `sshfs` working on the physical machine,
-you'll need to do the same thing one needs to do for building the base box.
 You can run `Install-Prerequisites.ps1` to grab the right software, then either:
 
 ```sh