Move protobuf support in drake/common into subdir

Bazel's support for protobuf does not have good backward compatibility.
As such, its helpful an important build file (drake/common/BUILD) didn't
mention @protobuf in a load() stanza.  Thus, we'll move the protobuf
support into a different package folder, so that only folks that truly
need it have to pay for it with their WORKSPACE entries.

drake/BUILD

@@ -56,17 +56,16 @@ _LIBDRAKE_COMPONENTS = [
     "//drake/common:functional_form",
     "//drake/common:is_approx_equal_abstol",
     "//drake/common:is_cloneable",
-    "//drake/common:matlab_rpc",
     "//drake/common:monomial",
     "//drake/common:nice_type_name",
     "//drake/common:number_traits",
     "//drake/common:polynomial",
-    "//drake/common:protobuf",
     "//drake/common:reinit_after_move",
     "//drake/common:scoped_singleton",
     "//drake/common:sorted_vectors_have_intersection",
     "//drake/common:symbolic",
     "//drake/common:text_logging_gflags",
+    "//drake/common/proto:protobuf",
     "//drake/common/trajectories:piecewise_function",
     "//drake/common/trajectories:piecewise_polynomial",
     "//drake/common/trajectories:piecewise_polynomial_trajectory",

drake/automotive/BUILD

@@ -645,8 +645,8 @@ drake_cc_googletest(
     tags = ["snopt"],
     deps = [
         ":simple_car",
-        "//drake/common:call_matlab",
         "//drake/common:eigen_matrix_compare",
+        "//drake/common/proto:call_matlab",
         "//drake/systems/trajectory_optimization:direct_collocation",
     ],
 )

drake/automotive/test/trajectory_optimization_test.cc

@@ -4,8 +4,8 @@
 #include <gtest/gtest.h>
 
 #include "drake/automotive/simple_car.h"
-#include "drake/common/call_matlab.h"
 #include "drake/common/eigen_matrix_compare.h"
+#include "drake/common/proto/call_matlab.h"
 #include "drake/systems/trajectory_optimization/direct_collocation.h"
 
 namespace drake {
@@ -75,7 +75,7 @@ GTEST_TEST(TrajectoryOptimizationTest, SimpleCarDircolTest) {
   EXPECT_EQ(result, solvers::SolutionResult::kSolutionFound);
 
   // Plot the solution.
-  // Note: see lcm_call_matlab.h for instructions on viewing the plot.
+  // Note: see call_matlab.h for instructions on viewing the plot.
   Eigen::MatrixXd inputs;
   Eigen::MatrixXd states;
   std::vector<double> times_out;

drake/common/BUILD

@@ -10,7 +10,6 @@ load(
 )
 load("//tools:python_lint.bzl", "python_lint")
 load("//tools:install.bzl", "install")
-load("@protobuf//:protobuf.bzl", "cc_proto_library")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -236,24 +235,6 @@ drake_cc_library(
     hdrs = ["test/is_memcpy_movable.h"],
 )
 
-cc_proto_library(
-    name = "matlab_rpc",
-    srcs = [
-        "matlab_rpc.proto",
-    ],
-)
-
-drake_cc_library(
-    name = "call_matlab",
-    testonly = 1,
-    srcs = ["call_matlab.cc"],
-    hdrs = ["call_matlab.h"],
-    deps = [
-        ":common",
-        ":matlab_rpc",
-    ],
-)
-
 drake_cc_library(
     name = "monomial",
     srcs = [
@@ -346,15 +327,6 @@ drake_cc_library(
     ],
 )
 
-drake_cc_library(
-    name = "protobuf",
-    srcs = ["protobuf.cc"],
-    hdrs = ["protobuf.h"],
-    deps = [
-        "@protobuf",
-    ],
-)
-
 drake_cc_binary(
     name = "resource_tool",
     srcs = ["resource_tool.cc"],
@@ -405,13 +377,6 @@ drake_cc_googletest(
     ],
 )
 
-drake_cc_googletest(
-    name = "call_matlab_test",
-    deps = [
-        ":call_matlab",
-    ],
-)
-
 drake_cc_googletest(
     name = "reinit_after_move_test",
     deps = [
@@ -652,16 +617,6 @@ drake_cc_googletest(
     ],
 )
 
-drake_cc_googletest(
-    name = "protobuf_test",
-    data = [
-        "test/test_string.txt",
-    ],
-    deps = [
-        ":protobuf",
-    ],
-)
-
 drake_cc_googletest(
     name = "sorted_vectors_have_intersection_test",
     deps = [

drake/common/CMakeLists.txt

@@ -2,8 +2,6 @@
 # Drake common library
 #
 
-protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS matlab_rpc.proto)
-
 # Generated code.
 set(cmake_project_source_dir_cc ${PROJECT_BINARY_DIR}/generated/drake/common/cmake_project_source_dir.cc)
 set(THIS_FILE_IS_USED_BY_CMAKE_TO_CREATE_GENERATED_CODE
@@ -12,7 +10,6 @@ configure_file(cmake_project_source_dir.cc.in ${cmake_project_source_dir_cc})
 
 # List all source files used to build libdrakeCommon.
 set(sources
-  call_matlab.cc ${PROTO_SRCS}
   ${cmake_project_source_dir_cc}
   double_overloads.cc
   drake_assert_and_throw.cc
@@ -39,7 +36,6 @@ set(sources
 # are available elsewhere via #include "drake/common/xxx.h".
 set(installed_headers
   autodiff_overloads.h
-  call_matlab.h ${PROTO_HDRS}
   cond.h
   constants.h
   copyable_unique_ptr.h
@@ -95,15 +91,14 @@ set(private_headers
 # Create the library target and note its dependencies.
 add_library_with_exports(LIB_NAME drakeCommon
   SOURCE_FILES ${sources} ${installed_headers} ${private_headers})
-target_include_directories(drakeCommon PUBLIC ${PROTOBUF_INCLUDE_DIRS})
+target_include_directories(drakeCommon PUBLIC)
 target_link_libraries(drakeCommon
   Eigen3::Eigen
   fmt
   gflags
   spruce
   stx
-  Threads::Threads
-  ${PROTOBUF_LIBRARIES})
+  Threads::Threads)
 
 set(drakeCommon_CFLAGS)
 set(drakeCommon_REQUIRES)
@@ -140,4 +135,5 @@ if(BUILD_TESTING)
   add_subdirectory(test)
 endif()
 
+add_subdirectory(proto)
 add_subdirectory(trajectories)

drake/common/proto/BUILD

@@ -0,0 +1,61 @@
+# -*- python -*-
+# This file contains rules for Bazel; see drake/doc/bazel.rst.
+
+load("//tools:cpplint.bzl", "cpplint")
+load(
+    "//tools:drake.bzl",
+    "drake_cc_googletest",
+    "drake_cc_library",
+)
+load("@protobuf//:protobuf.bzl", "cc_proto_library")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_proto_library(
+    name = "matlab_rpc",
+    srcs = [
+        "matlab_rpc.proto",
+    ],
+    testonly = 1,
+)
+
+drake_cc_library(
+    name = "call_matlab",
+    testonly = 1,
+    srcs = ["call_matlab.cc"],
+    hdrs = ["call_matlab.h"],
+    deps = [
+        "//drake/common",
+        ":matlab_rpc",
+    ],
+)
+
+drake_cc_library(
+    name = "protobuf",
+    srcs = ["protobuf.cc"],
+    hdrs = ["protobuf.h"],
+    deps = [
+        "@protobuf",
+    ],
+)
+
+# === test/ ===
+
+drake_cc_googletest(
+    name = "call_matlab_test",
+    deps = [
+        ":call_matlab",
+    ],
+)
+
+drake_cc_googletest(
+    name = "protobuf_test",
+    data = [
+        "test/test_string.txt",
+    ],
+    deps = [
+        ":protobuf",
+    ],
+)
+
+cpplint()

drake/common/proto/CMakeLists.txt

@@ -0,0 +1,29 @@
+protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS matlab_rpc.proto)
+
+set(sources
+  ${PROTO_SRCS}
+  call_matlab.cc
+  protobuf.cc
+  )
+
+set(installed_headers
+  ${PROTO_HDRS}
+  call_matlab.h
+  protobuf.h
+  )
+
+add_library_with_exports(LIB_NAME drakeCommonProto
+  SOURCE_FILES ${sources} ${installed_headers})
+target_include_directories(drakeCommonProto PUBLIC ${PROTOBUF_INCLUDE_DIRS})
+target_link_libraries(drakeCommonProto
+  ${PROTOBUF_LIBRARIES}
+  drakeCommon
+  Eigen3::Eigen
+  )
+set(drakeCommonProto_CFLAGS)
+set(drakeCommonProto_REQUIRES)
+
+drake_install_headers(${installed_headers})
+drake_install_libraries(drakeCommonProto)
+
+# N.B. The tests are not built with CMake.

drake/common/call_matlab.cc → drake/common/proto/call_matlab.cc

@@ -1,4 +1,4 @@
-#include "drake/common/call_matlab.h"
+#include "drake/common/proto/call_matlab.h"
 
 #include <fcntl.h>
 #include <sys/stat.h>

drake/common/call_matlab.h → drake/common/proto/call_matlab.h

@@ -4,7 +4,7 @@
 #include <vector>
 
 #include "drake/common/eigen_types.h"
-#include "drake/common/matlab_rpc.pb.h"
+#include "drake/common/proto/matlab_rpc.pb.h"
 
 /// @file Utilities for calling Matlab from C++
 ///

drake/common/protobuf.cc → drake/common/proto/protobuf.cc

@@ -1,4 +1,4 @@
-#include "drake/common/protobuf.h"
+#include "drake/common/proto/protobuf.h"
 
 #include <fcntl.h>
 

drake/common/test/call_matlab_test.cc → drake/common/proto/test/call_matlab_test.cc

@@ -1,4 +1,4 @@
-#include "drake/common/call_matlab.h"
+#include "drake/common/proto/call_matlab.h"
 
 #include <cmath>
 

drake/common/test/protobuf_test.cc → drake/common/proto/test/protobuf_test.cc

@@ -1,4 +1,4 @@
-#include "drake/common/protobuf.h"
+#include "drake/common/proto/protobuf.h"
 
 #include <string>
 
@@ -10,7 +10,7 @@ namespace {
 
 GTEST_TEST(ProtobufUtilsTest, MakeFileInputStreamSucceeds) {
   auto istream = MakeFileInputStreamOrThrow(
-      "drake/common/test/test_string.txt");
+      "drake/common/proto/test/test_string.txt");
   google::protobuf::io::CodedInputStream coded_stream(istream.get());
   std::string expected("test string");
   std::string contents;

drake/examples/Acrobot/BUILD

@@ -111,8 +111,8 @@ drake_cc_binary(
     test_rule_args = ["-realtime_factor=0.0"],
     deps = [
         ":acrobot_plant",
-        "//drake/common:call_matlab",
         "//drake/common:find_resource",
+        "//drake/common/proto:call_matlab",
         "//drake/lcm",
         "//drake/multibody:rigid_body_tree",
         "//drake/multibody/joints",

drake/examples/Acrobot/acrobot_run_lqr_w_estimator.cc

@@ -3,8 +3,8 @@
 
 #include <gflags/gflags.h>
 
-#include "drake/common/call_matlab.h"
 #include "drake/common/find_resource.h"
+#include "drake/common/proto/call_matlab.h"
 #include "drake/examples/Acrobot/acrobot_plant.h"
 #include "drake/examples/Acrobot/gen/acrobot_state_vector.h"
 #include "drake/lcm/drake_lcm.h"
@@ -146,7 +146,7 @@ int do_main(int argc, char* argv[]) {
   simulator.Initialize();
   simulator.StepTo(5);
 
-  // Plot the results (launch lcm_call_matlab_client to see the plots).
+  // Plot the results (launch call_matlab_client to see the plots).
   using common::CallMatlab;
   CallMatlab("figure", 1);
   CallMatlab("plot", x_logger->sample_times(),

drake/examples/QPInverseDynamicsForHumanoids/param_parsers/BUILD

@@ -21,7 +21,7 @@ drake_cc_library(
     deps = [
         ":id_controller_config",
         ":rigid_body_tree_alias_groups",
-        "//drake/common:protobuf",
+        "//drake/common/proto:protobuf",
         "//drake/examples/QPInverseDynamicsForHumanoids:qp_controller_common",
         "@yaml_cpp",
     ],
@@ -47,7 +47,7 @@ drake_cc_library(
     hdrs = ["rigid_body_tree_alias_groups.h"],
     deps = [
         ":alias_groups",
-        "//drake/common:protobuf",
+        "//drake/common/proto:protobuf",
         "//drake/multibody:rigid_body_tree",
     ],
 )

drake/examples/QPInverseDynamicsForHumanoids/param_parsers/param_parser.cc

@@ -3,7 +3,7 @@
 #include "google/protobuf/text_format.h"
 
 #include "drake/common/drake_assert.h"
-#include "drake/common/protobuf.h"
+#include "drake/common/proto/protobuf.h"
 #include "drake/examples/QPInverseDynamicsForHumanoids/param_parsers/id_controller_config.pb.h"
 #include "drake/util/drakeUtil.h"
 

drake/examples/QPInverseDynamicsForHumanoids/param_parsers/rigid_body_tree_alias_groups.cc

@@ -4,7 +4,7 @@
 
 #include "google/protobuf/text_format.h"
 
-#include "drake/common/protobuf.h"
+#include "drake/common/proto/protobuf.h"
 #include "drake/examples/QPInverseDynamicsForHumanoids/param_parsers/alias_groups.pb.h"
 
 namespace drake {

drake/examples/ZMP/BUILD

@@ -25,7 +25,7 @@ drake_cc_binary(
     srcs = ["zmp_example.cc"],
     deps = [
         ":zmp_test_util",
-        "//drake/common:call_matlab",
+        "//drake/common/proto:call_matlab",
     ],
 )
 

drake/examples/ZMP/zmp_example.cc

@@ -1,7 +1,7 @@
 #include <chrono>
 #include <thread>
 
-#include "drake/common/call_matlab.h"
+#include "drake/common/proto/call_matlab.h"
 #include "drake/examples/ZMP/zmp_test_util.h"
 
 void PlotResults(const drake::examples::zmp::ZMPTestTraj& traj) {