Merge pull request RobotLocomotion#14395 from jamiesnape/brew-numpy-1…

….19.4-scipy-1.5.4-vtk-8.2.0

Use formulae dependent on Python 3.8 on macOS and rebuild VTK for all platforms

setup/mac/binary_distribution/Brewfile

@@ -15,19 +15,22 @@ brew 'gflags'
 brew 'glew'
 brew 'glib'
 brew 'graphviz'
+# brew extract last working version.
 brew 'robotlocomotion/director/[email protected]'
 brew 'libyaml'
 brew 'lz4'
 brew 'nlopt'
-brew 'numpy'
+# brew extract last working version that depends on [email protected].
+brew 'robotlocomotion/director/[email protected]'
 brew 'openblas'
 brew 'pkg-config'
 brew '[email protected]'
-brew 'scipy'
+# brew extract last working version that depends on [email protected].
+brew 'robotlocomotion/director/[email protected]'
 brew 'suite-sparse'
 brew 'tinyxml'
 brew 'tinyxml2'
-brew 'robotlocomotion/director/[email protected]'
+brew 'robotlocomotion/director/[email protected].0'
 brew 'xz'
 brew 'yaml-cpp'
 brew 'zeromq'

setup/mac/binary_distribution/install_prereqs.sh

@@ -18,7 +18,21 @@ if ! command -v /usr/local/bin/brew &>/dev/null; then
   /usr/bin/ruby -e "$(/usr/bin/curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
 fi
 
-/usr/local/bin/brew update
+# TODO(jamiesnape): Remove lines uninstalling [email protected], [email protected], and
+# [email protected] on or after 2021-02-01.
+/usr/local/bin/brew uninstall --force $(cat <<EOF
+robotlocomotion/director/[email protected]
+robotlocomotion/director/[email protected]
+robotlocomotion/director/[email protected]
+EOF
+)
+
+# Ensure numpy is updated to the most recent version to avoid conflicts with
+# robotlocomotion/drake/[email protected]
+# TODO(jamiesnape): Remove line upgrading numpy or after 2021-02-01.
+/usr/local/bin/brew list numpy &>/dev/null \
+  && (brew outdated numpy >/dev/null || /usr/local/bin/brew upgrade numpy)
+
 /usr/local/bin/brew bundle --file="${BASH_SOURCE%/*}/Brewfile" --no-lock
 
 if ! command -v /usr/local/opt/[email protected]/bin/pip3 &>/dev/null; then

setup/ubuntu/binary_distribution/packages-bionic.txt

@@ -36,7 +36,6 @@ libqt5printsupport5
 libqt5widgets5
 libquadmath0
 libsqlite3-0
-libtbb2
 libtheora0
 libtiff5
 libtinyxml2-dev

setup/ubuntu/binary_distribution/packages-focal.txt

@@ -35,7 +35,6 @@ libqt5printsupport5
 libqt5widgets5
 libquadmath0
 libsqlite3-0
-libtbb2
 libtheora0
 libtiff5
 libtinyxml2-dev

tools/workspace/default.bzl

@@ -13,6 +13,7 @@ load("@drake//tools/workspace/clang_cindex_python3:repository.bzl", "clang_cinde
 load("@drake//tools/workspace/com_jidesoft_jide_oss:repository.bzl", "com_jidesoft_jide_oss_repository")  # noqa
 load("@drake//tools/workspace/commons_io:repository.bzl", "commons_io_repository")  # noqa
 load("@drake//tools/workspace/csdp:repository.bzl", "csdp_repository")
+load("@drake//tools/workspace/double_conversion:repository.bzl", "double_conversion_repository")  # noqa
 load("@drake//tools/workspace/doxygen:repository.bzl", "doxygen_repository")
 load("@drake//tools/workspace/drake_visualizer:repository.bzl", "drake_visualizer_repository")  # noqa
 load("@drake//tools/workspace/dreal:repository.bzl", "dreal_repository")
@@ -43,6 +44,7 @@ load("@drake//tools/workspace/libblas:repository.bzl", "libblas_repository")
 load("@drake//tools/workspace/libjpeg:repository.bzl", "libjpeg_repository")
 load("@drake//tools/workspace/liblapack:repository.bzl", "liblapack_repository")  # noqa
 load("@drake//tools/workspace/liblz4:repository.bzl", "liblz4_repository")
+load("@drake//tools/workspace/liblzma:repository.bzl", "liblzma_repository")
 load("@drake//tools/workspace/libpng:repository.bzl", "libpng_repository")
 load("@drake//tools/workspace/libtiff:repository.bzl", "libtiff_repository")
 load("@drake//tools/workspace/meshcat:repository.bzl", "meshcat_repository")
@@ -116,6 +118,8 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         commons_io_repository(name = "commons_io", mirrors = mirrors)
     if "csdp" not in excludes:
         csdp_repository(name = "csdp", mirrors = mirrors)
+    if "double_conversion" not in excludes:
+        double_conversion_repository(name = "double_conversion")
     if "doxygen" not in excludes:
         doxygen_repository(name = "doxygen", mirrors = mirrors)
     if "drake_detected_os" not in excludes:
@@ -178,6 +182,8 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         liblapack_repository(name = "liblapack")
     if "liblz4" not in excludes:
         liblz4_repository(name = "liblz4")
+    if "liblzma" not in excludes:
+        liblzma_repository(name = "liblzma")
     if "libpng" not in excludes:
         libpng_repository(name = "libpng")
     if "libtiff" not in excludes:

tools/workspace/double_conversion/BUILD.bazel

@@ -0,0 +1,8 @@
+# -*- python -*-
+
+# This file exists to make our directory into a Bazel package, so that our
+# neighboring *.bzl file can be loaded elsewhere.
+
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+add_lint_tests()

tools/workspace/double_conversion/package-macos.BUILD.bazel

@@ -0,0 +1,15 @@
+# -*- python -*-
+
+licenses(["notice"])  # BSD-3-Clause
+
+cc_library(
+    name = "double_conversion",
+    hdrs = glob(["include/double-conversion/*.h"]),
+    includes = ["include"],
+    linkopts = [
+        "-L/usr/local/opt/double-conversion/lib",
+        "-Wl,-rpath,/usr/local/opt/double-conversion/lib",
+        "-ldouble-conversion",
+    ],
+    visibility = ["//visibility:public"],
+)

tools/workspace/double_conversion/package-ubuntu.BUILD.bazel

@@ -0,0 +1,14 @@
+# -*- python -*-
+
+licenses(["notice"])  # BSD-3-Clause
+
+cc_library(
+    name = "double_conversion",
+    hdrs = glob(["include/double-conversion/*.h"]),
+    includes = ["include"],
+    linkopts = [
+        "-L/usr/lib/x86_64-linux-gnu",
+        "-ldouble-conversion",
+    ],
+    visibility = ["//visibility:public"],
+)

tools/workspace/double_conversion/repository.bzl

@@ -0,0 +1,40 @@
+# -*- python -*-
+
+load("@drake//tools/workspace:os.bzl", "determine_os")
+
+def _impl(repository_ctx):
+    os_result = determine_os(repository_ctx)
+
+    if os_result.error != None:
+        fail(os_result.error)
+
+    if os_result.is_macos:
+        repository_ctx.symlink(
+            "/usr/local/opt/double-conversion/include",
+            "include",
+        )
+        repository_ctx.symlink(
+            Label(
+                "@drake//tools/workspace/double_conversion:package-macos.BUILD.bazel",  # noqa
+            ),
+            "BUILD.bazel",
+        )
+    elif os_result.is_ubuntu:
+        repository_ctx.symlink(
+            "/usr/include/double-conversion",
+            "include/double-conversion",
+        )
+        repository_ctx.symlink(
+            Label(
+                "@drake//tools/workspace/double_conversion:package-ubuntu.BUILD.bazel",  # noqa
+            ),
+            "BUILD.bazel",
+        )
+    else:
+        fail("Operating system is NOT supported", attr = os_result)
+
+double_conversion_repository = repository_rule(
+    local = True,
+    configure = True,
+    implementation = _impl,
+)

tools/workspace/drake_visualizer/repository.bzl

@@ -56,8 +56,8 @@ def _impl(repository_ctx):
         fail(os_result.error)
 
     if os_result.is_macos:
-        archive = "dv-0.1.0-406-g4c3e570a-python-3.8.2-qt-5.14.1-vtk-8.2.0-mac-x86_64.tar.gz"  # noqa
-        sha256 = "d09c2bfc80c4e50e178f588c6c2e80b5ce627251ca14c9841dba1f6c0c07fc31"  # noqa
+        archive = "dv-0.1.0-406-g4c3e570a-python-3.8.6-qt-5.15.1-vtk-8.2.0-mac-x86_64.tar.gz"  # noqa
+        sha256 = "292f46d391359d2a2ae71906eb852433dba8e06138dc88b59303a295cf9af1a7"  # noqa
     elif os_result.ubuntu_release == "18.04":
         archive = "dv-0.1.0-406-g4c3e570a-python-3.6.9-qt-5.9.5-vtk-8.2.0-bionic-x86_64-1.tar.gz"  # noqa
         sha256 = "2c477c2f1186cd151710af9a6f50bd3720034ced3c5ed21d977b0a822ac56237"  # noqa

tools/workspace/liblzma/BUILD.bazel

@@ -0,0 +1,8 @@
+# -*- python -*-
+
+# This file exists to make our directory into a Bazel package, so that our
+# neighboring *.bzl file can be loaded elsewhere.
+
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+add_lint_tests()

tools/workspace/liblzma/repository.bzl

@@ -0,0 +1,20 @@
+# -*- mode: python -*-
+
+load(
+    "@drake//tools/workspace:pkg_config.bzl",
+    "pkg_config_repository",
+)
+
+def liblzma_repository(
+        name,
+        licenses = ["restricted"],  # LGPL-2.1-only
+        modname = "liblzma",
+        pkg_config_paths = ["/usr/local/opt/xz/lib/pkgconfig"],
+        **kwargs):
+    pkg_config_repository(
+        name = name,
+        licenses = licenses,
+        modname = modname,
+        pkg_config_paths = pkg_config_paths,
+        **kwargs
+    )