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[workspace] Straighten out repo rules for MOSEK, TBB, OpenUSD (RobotL…
…ocomotion#21155) Now deprecated: calling mosek_repository() without providing mirrors. Split up MOSEK repository rule into separate, more cohesive files: - repository.bzl for the version pin and checksums - repository_impl.bzl for the arch-specific downloading and paths - package.BUILD.bazel for the C++ rules Improve the MOSEK repository rule features: - Add linuxaarch64 support. - Add mirroring support. - Use a deeper strip_prefix to discard stuff we don't need. - Fix use of install_name_tool to skip symlinks and set rpaths properly. - Remove hard-coded version numbers in the BUILD file. - Use cc_import (the canonical Bazel spelling for prebuilt shared libraries). - Provide separate rules for TBB and MOSEK. When WITH_USD is ON: - Provide the TBB shared libraries to pydrake (via libdrake.so). - Install the OneTBB license. Fix typo in our skylark cc_import forwarder.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,107 @@ | ||
| # -*- bazel -*- | ||
|
|
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| load("@drake//tools/install:install.bzl", "install", "install_files") | ||
| load("@drake//tools/skylark:cc.bzl", "cc_import", "cc_library") | ||
|
|
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| package(default_visibility = ["//visibility:private"]) | ||
|
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||
| # We use the the MOSEK™ copy of libtbb, even on Ubuntu which *does* have the | ||
| # library already available, because the version in Ubuntu is too old. | ||
|
|
||
| # Find the TBB shared library with the major.minor-style version number. | ||
| # This will be the spelling with the actual object code. | ||
| _TBB_MAJMIN_GLOB = glob([ | ||
| "bin/libtbb.so.*.*", | ||
| "bin/libtbb.*.*.dylib", | ||
| ]) | ||
|
|
||
| len(_TBB_MAJMIN_GLOB) == 1 or fail("Glob failure: " + str(glob(["**"]))) | ||
|
|
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| # Find the TBB shared library with the major-only-style version number. | ||
| # This will be the spelling that's a symlink to the major.minor spelling. | ||
| _TBB_MAJ_GLOB = glob([ | ||
| "bin/libtbb.so.*", | ||
| "bin/libtbb.*.dylib", | ||
| ], exclude = _TBB_MAJMIN_GLOB) | ||
|
|
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| len(_TBB_MAJ_GLOB) == 1 or fail("Glob failure: " + str(glob(["**"]))) | ||
|
|
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| cc_import( | ||
| name = "import_tbb_majmin", | ||
| shared_library = _TBB_MAJMIN_GLOB[0], | ||
| ) | ||
|
|
||
| cc_import( | ||
| name = "import_tbb_maj", | ||
| shared_library = _TBB_MAJ_GLOB[0], | ||
| visibility = ["//visibility:private"], | ||
| ) | ||
|
|
||
| cc_library( | ||
| name = "tbb", | ||
| deps = [ | ||
| ":import_tbb_maj", | ||
| ":import_tbb_majmin", | ||
| ], | ||
| linkopts = ["-pthread"], | ||
| visibility = ["//visibility:public"], | ||
| ) | ||
|
|
||
| # Find the mosek shared library with the major.minor-style version number. | ||
| _MOSEK_MAJMIN_GLOB = glob([ | ||
| "bin/libmosek64.so.*.*", | ||
| "bin/libmosek64.*.*.dylib", | ||
| ]) | ||
|
|
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| len(_MOSEK_MAJMIN_GLOB) == 1 or fail("Glob failure: " + str(glob(["**"]))) | ||
|
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| cc_import( | ||
| name = "import_mosek", | ||
| shared_library = _MOSEK_MAJMIN_GLOB[0], | ||
| deps = [":tbb"], | ||
| visibility = ["//visibility:private"], | ||
| ) | ||
|
|
||
| cc_library( | ||
| name = "mosek", | ||
| hdrs = ["h/mosek.h"], | ||
| includes = ["h"], | ||
| deps = [":import_mosek"], | ||
| visibility = ["//visibility:public"], | ||
| ) | ||
|
|
||
| install_files( | ||
| name = "install_tbb_libraries", | ||
| dest = "lib", | ||
| files = _TBB_MAJMIN_GLOB + _TBB_MAJ_GLOB, | ||
| strip_prefix = ["bin"], | ||
| visibility = ["//visibility:public"], | ||
| ) | ||
|
|
||
| install_files( | ||
| name = "install_mosek_libraries", | ||
| dest = "lib", | ||
| files = _MOSEK_MAJMIN_GLOB, | ||
| strip_prefix = ["bin"], | ||
| ) | ||
|
|
||
| install( | ||
| name = "install_licenses", | ||
| docs = [ | ||
| "mosek-eula.pdf", | ||
| "@drake//tools/workspace/mosek:drake_mosek_redistribution.txt", | ||
| "@drake//tools/workspace/mosek:LICENSE.third_party", | ||
| ], | ||
| doc_strip_prefix = ["tools/workspace/mosek"], | ||
| allowed_externals = ["@drake//:.bazelproject"], | ||
| ) | ||
|
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||
| install( | ||
| name = "install", | ||
| deps = [ | ||
| ":install_licenses", | ||
| ":install_mosek_libraries", | ||
| ":install_tbb_libraries", | ||
| ], | ||
| visibility = ["//visibility:public"], | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,178 +1,27 @@ | ||
| """ | ||
| Downloads and unpacks a MOSEK™ archive and makes its headers and | ||
| precompiled shared libraries available to be used as a C/C++ | ||
| dependency. | ||
| Example: | ||
| WORKSPACE: | ||
| load("@drake//tools/workspace/mosek:repository.bzl", "mosek_repository") # noqa | ||
| mosek_repository(name = "foo") | ||
| BUILD: | ||
| cc_library( | ||
| name = "foobar", | ||
| deps = ["@foo//:mosek"], | ||
| srcs = ["bar.cc"], | ||
| ) | ||
| Argument: | ||
| name: A unique name for this rule. | ||
| """ | ||
|
|
||
| load("//tools/workspace:execute.bzl", "which") | ||
|
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| def _impl(repository_ctx): | ||
| # When these values are updated: | ||
| # - tools/dynamic_analysis/tsan.supp may also need updating | ||
| # - LICENSE.third_party may also need updating to match | ||
| # https://docs.mosek.com/latest/licensing/license-agreement-info.html | ||
| mosek_major_version = 10 | ||
| mosek_minor_version = 1 | ||
| mosek_patch_version = 21 | ||
|
|
||
| os_name = repository_ctx.os.name # 'linux' or 'mac os x' (=> 'darwin') | ||
| if os_name == "mac os x": | ||
| os_name = "darwin" | ||
| os_arch = repository_ctx.os.arch # 'amd64' or 'aarch64' | ||
| if os_name == "darwin": | ||
| if os_arch == "aarch64": | ||
| mosek_platform = "osxaarch64" | ||
| sha256 = "f6e862cab171b7897a6f1ad21c3c0fbdf33dc1310f50c792295ab008321950c7" # noqa | ||
| else: | ||
| mosek_platform = "osx64x86" | ||
| sha256 = "3ad45f7e535b6d3bb8be955f403ded30a7f186424057f11024afc57427cbb012" # noqa | ||
| else: | ||
| # TODO(jwnimmer-tri) We should add linux aarch64 support here. | ||
| mosek_platform = "linux64x86" | ||
| sha256 = "f37b7b3806e467c64a02e95b2ab009f6fe8430f25ffc72ed56885f7684dec486" # noqa | ||
|
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||
| # TODO(jwnimmer-tri) Port to use mirrors.bzl. | ||
| template = "https://download.mosek.com/stable/{}.{}.{}/mosektools{}.tar.bz2" # noqa | ||
| url = template.format( | ||
| mosek_major_version, | ||
| mosek_minor_version, | ||
| mosek_patch_version, | ||
| mosek_platform, | ||
| ) | ||
| root_path = repository_ctx.path("") | ||
| strip_prefix = "mosek/{}.{}".format( | ||
| mosek_major_version, | ||
| mosek_minor_version, | ||
| load("//tools/workspace/mosek:repository_impl.bzl", "repository_impl") | ||
|
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| # TODO(jwnimmer-tri) Remove on 2024-07-01 upon completion of deprecation. | ||
| load("//tools/workspace:mirrors.bzl", "DEFAULT_MIRRORS") | ||
|
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| def mosek_repository( | ||
| name, | ||
| mirrors = None): | ||
| # TODO(jwnimmer-tri) Remove on 2024-07-01 upon completion of deprecation. | ||
| if mirrors == None: | ||
| print("mosek_repository() now requires a mirrors= argument; passing None is deprecated and will become an error on our after 2024-07-01") # noqa | ||
| mirrors = DEFAULT_MIRRORS | ||
| repository_impl( | ||
| name = name, | ||
| # When the version is updated: | ||
| # - tools/dynamic_analysis/tsan.supp may also need updating | ||
| # - LICENSE.third_party may also need updating to match | ||
| # https://docs.mosek.com/latest/licensing/license-agreement-info.html | ||
| version = "10.1.21", | ||
| sha256 = { | ||
| "mosektoolslinuxaarch64.tar.bz2": "f37b7b3806e467c64a02e95b2ab009f6fe8430f25ffc72ed56885f7684dec486", # noqa | ||
| "mosektoolslinux64x86.tar.bz2": "f37b7b3806e467c64a02e95b2ab009f6fe8430f25ffc72ed56885f7684dec486", # noqa | ||
| "mosektoolsosxaarch64.tar.bz2": "f6e862cab171b7897a6f1ad21c3c0fbdf33dc1310f50c792295ab008321950c7", # noqa | ||
| "mosektoolsosx64x86.tar.bz2": "3ad45f7e535b6d3bb8be955f403ded30a7f186424057f11024afc57427cbb012", # noqa | ||
| }, | ||
| mirrors = mirrors, | ||
| ) | ||
|
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| repository_ctx.download_and_extract( | ||
| url, | ||
| root_path, | ||
| sha256 = sha256, | ||
| stripPrefix = strip_prefix, | ||
| ) | ||
|
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| platform_prefix = "tools/platform/{}".format(mosek_platform) | ||
|
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| if os_name == "darwin": | ||
| install_name_tool = which(repository_ctx, "install_name_tool") | ||
|
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| files = [ | ||
| "bin/libtbb.12.dylib", | ||
| "bin/libtbb.12.8.dylib", | ||
| "bin/libmosek64.{}.{}.dylib".format( | ||
| mosek_major_version, | ||
| mosek_minor_version, | ||
| ), | ||
| ] | ||
|
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| for file in files: | ||
| file_path = repository_ctx.path( | ||
| "{}/{}".format(platform_prefix, file), | ||
| ) | ||
|
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| result = repository_ctx.execute([ | ||
| install_name_tool, | ||
| "-id", | ||
| file_path, | ||
| file_path, | ||
| ]) | ||
|
|
||
| if result.return_code != 0: | ||
| fail( | ||
| "Could NOT change shared library identification name", | ||
| attr = result.stderr, | ||
| ) | ||
|
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| srcs = [] | ||
|
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| bin_path = repository_ctx.path("{}/bin".format(platform_prefix)) | ||
|
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| linkopts = [ | ||
| "-L{}".format(bin_path), | ||
| "-lmosek64", | ||
| ] | ||
| else: | ||
| files = [ | ||
| # We use the the MOSEK™ copy of libtbb. The version of libtbb | ||
| # available in Ubuntu is too old. Anytime we change this, we must | ||
| # also sync our @onetbb_internal version number to match this. | ||
| "bin/libtbb.so.12", | ||
| "bin/libtbb.so.12.8", | ||
| "bin/libmosek64.so.{}.{}".format( | ||
| mosek_major_version, | ||
| mosek_minor_version, | ||
| ), | ||
| ] | ||
|
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| linkopts = ["-pthread"] | ||
| srcs = ["{}/{}".format(platform_prefix, file) for file in files] | ||
|
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| hdrs = ["{}/h/mosek.h".format(platform_prefix)] | ||
| includes = ["{}/h".format(platform_prefix)] | ||
| files = ["{}/{}".format(platform_prefix, file) for file in files] | ||
| libraries_strip_prefix = ["{}/bin".format(platform_prefix)] | ||
|
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| file_content = """# DO NOT EDIT: generated by mosek_repository() | ||
| load("@drake//tools/install:install.bzl", "install", "install_files") | ||
| load("@drake//tools/skylark:cc.bzl", "cc_library") | ||
| licenses([ | ||
| "by_exception_only", # MOSEK | ||
| "notice", # fplib AND Zlib | ||
| ]) | ||
| package(default_visibility = ["//visibility:public"]) | ||
| cc_library( | ||
| name = "mosek", | ||
| srcs = {}, | ||
| hdrs = {}, | ||
| includes = {}, | ||
| linkopts = {}, | ||
| ) | ||
| install_files( | ||
| name = "install_libraries", | ||
| dest = "lib", | ||
| files = {}, | ||
| strip_prefix = {}, | ||
| visibility = ["//visibility:private"], | ||
| ) | ||
| install( | ||
| name = "install", | ||
| docs = [ | ||
| "mosek-eula.pdf", | ||
| "@drake//tools/workspace/mosek:drake_mosek_redistribution.txt", | ||
| "@drake//tools/workspace/mosek:LICENSE.third_party", | ||
| ], | ||
| doc_strip_prefix = ["tools/workspace/mosek"], | ||
| allowed_externals = ["@drake//:.bazelproject"], | ||
| deps = [":install_libraries"], | ||
| ) | ||
| """.format(srcs, hdrs, includes, linkopts, files, libraries_strip_prefix) | ||
|
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| repository_ctx.file( | ||
| "BUILD.bazel", | ||
| content = file_content, | ||
| executable = False, | ||
| ) | ||
|
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| mosek_repository = repository_rule(implementation = _impl) |
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