solvers: Remove f2c build flavor of SNOPT solver (RobotLocomotion#12299)

CMakeLists.txt

@@ -341,33 +341,13 @@ if(WITH_MOSEK)
   list(APPEND BAZEL_CONFIGS --config=mosek)
 endif()
 
-set(WITH_SNOPT_STRINGS F2C Fortran OFF ON)
-string(REPLACE ";" " " WITH_SNOPT_STRINGS_STRING "${WITH_SNOPT_STRINGS}")
-
-set(WITH_ROBOTLOCOMOTION_SNOPT OFF CACHE STRING
-  "Build with support for SNOPT using the RobotLocomotion/snopt private GitHub repository, options are ${WITH_SNOPT_STRINGS_STRING}"
-)
-set_property(CACHE WITH_ROBOTLOCOMOTION_SNOPT PROPERTY
-  STRINGS "${WITH_SNOPT_STRINGS}"
+set(WITH_ROBOTLOCOMOTION_SNOPT OFF CACHE BOOL
+  "Build with support for SNOPT using the RobotLocomotion/snopt private GitHub repository"
 )
 
-if(NOT WITH_ROBOTLOCOMOTION_SNOPT IN_LIST WITH_SNOPT_STRINGS)
-  message(FATAL_ERROR
-    "Value ${WITH_ROBOTLOCOMOTION_SNOPT} for the WITH_ROBOTLOCOMOTION_SNOPT "
-    "option is NOT supported"
-  )
-endif()
-
-set(WITH_SNOPT OFF CACHE STRING
-  "Build with support for SNOPT using a SNOPT source archive at SNOPT_PATH, options are ${WITH_SNOPT_STRINGS_STRING}"
+set(WITH_SNOPT OFF CACHE BOOL
+  "Build with support for SNOPT using a SNOPT source archive at SNOPT_PATH"
 )
-set_property(CACHE WITH_SNOPT PROPERTY STRINGS "${WITH_SNOPT_STRINGS}")
-
-if(NOT WITH_SNOPT IN_LIST WITH_SNOPT_STRINGS)
-  message(FATAL_ERROR
-    "Value ${WITH_SNOPT} for the WITH_SNOPT option is NOT supported"
-  )
-endif()
 
 if(WITH_ROBOTLOCOMOTION_SNOPT AND WITH_SNOPT)
   message(FATAL_ERROR
@@ -376,32 +356,24 @@ if(WITH_ROBOTLOCOMOTION_SNOPT AND WITH_SNOPT)
 endif()
 
 if(WITH_ROBOTLOCOMOTION_SNOPT OR WITH_SNOPT)
-  if(WITH_ROBOTLOCOMOTION_SNOPT STREQUAL F2C OR WITH_SNOPT STREQUAL F2C)
-    list(APPEND BAZEL_CONFIGS --config=snopt_f2c)
-  else()
-    enable_language(Fortran)
-
-    if(CMAKE_Fortran_COMPILER_ID STREQUAL GNU)
-      if(CMAKE_Fortran_COMPILER_VERSION VERSION_LESS ${MINIMUM_GNU_VERSION})
-        message(FATAL_ERROR
-          "Compilation with gfortran ${CMAKE_Fortran_COMPILER_VERSION} is NOT "
-          "supported"
-        )
-      endif()
-    else()
-      message(WARNING
-        "Compilation with ${CMAKE_Fortran_COMPILER_ID} is NOT supported. "
-        "Compilation of project drake_cxx_python may fail."
-      )
-    endif()
+  enable_language(Fortran)
 
-    if(WITH_ROBOTLOCOMOTION_SNOPT STREQUAL Fortran OR WITH_SNOPT STREQUAL Fortran)
-      list(APPEND BAZEL_CONFIGS --config=snopt_fortran)
-    else()
-      list(APPEND BAZEL_CONFIGS --config=snopt)
+  if(CMAKE_Fortran_COMPILER_ID STREQUAL GNU)
+    if(CMAKE_Fortran_COMPILER_VERSION VERSION_LESS ${MINIMUM_GNU_VERSION})
+      message(FATAL_ERROR
+        "Compilation with gfortran ${CMAKE_Fortran_COMPILER_VERSION} is NOT "
+        "supported"
+      )
     endif()
+  else()
+    message(WARNING
+      "Compilation with ${CMAKE_Fortran_COMPILER_ID} is NOT supported. "
+      "Compilation of project drake_cxx_python may fail."
+    )
   endif()
 
+  list(APPEND BAZEL_CONFIGS --config=snopt)
+
   if(WITH_ROBOTLOCOMOTION_SNOPT)
     list(APPEND BAZEL_ENV "SNOPT_PATH=git")
   else()

doc/bazel.rst

@@ -248,18 +248,9 @@ these tests.  If you will be developing with SNOPT regularly, you may wish
 to specify a more convenient ``--test_tag_filters`` in a local ``.bazelrc``.
 See https://docs.bazel.build/versions/master/user-manual.html#bazelrc.
 
-Drake offers two flavors of SNOPT bindings for the MathematicalProgram:
-
- - The ``--config snopt_f2c`` option selects the legacy bindings that use the
-   f2c compiler; these bindings will be removed on 2019-11-01.
- - The ``--config snopt_fortran`` option selects the bindings that use the
-   gfortran compiler; these bindings will be supported for the foreseeable
-   future.
- - The ``--config snopt`` is synonymous with ``--config snopt_fortran``.
-
-The gfortran bindings are superior in several ways (such as being threadsafe),
-but have some known problems on certain programs (see drake issue `#10422
-<https://github.com/RobotLocomotion/drake/issues/10422>`_ for a summary).
+SNOPT support has some known problems on certain programs (see drake issue
+`#10422 <https://github.com/RobotLocomotion/drake/issues/10422>`_ for a
+summary).
 
 Optional Tools
 ==============

solvers/BUILD.bazel

@@ -780,28 +780,21 @@ drake_cc_library(
     }),
 )
 
-# If --config snopt (or one of --config snopt_{fortran,f2c}) is used, this
-# target builds object code that satisfies SolverInterface by calling
-# SNOPT. Otherwise, this target builds dummy object code that fails at runtime.
+# If --config snopt (or --config snopt_fortran) is used, this target builds
+# object code that satisfies SolverInterface by calling SNOPT. Otherwise, this
+# target builds dummy object code that fails at runtime.
 drake_cc_library(
     name = "snopt_solver",
     srcs = select({
-        # The `--config snopt` ("Use the default SNOPT flavor") is a synonym
-        # for `--config snopt_fortran` ("Use the Fortran SNOPT flavor").
+        # For `--config snopt` or `--config snopt_fortran`.
         "//tools:with_snopt": [
             "snopt_solver.cc",
             "snopt_solver_common.cc",
         ],
-        # This is always the Fortran flavor.
         "//tools:with_snopt_fortran": [
             "snopt_solver.cc",
             "snopt_solver_common.cc",
         ],
-        # This is always the f2c flavor.
-        "//tools:with_snopt_f2c": [
-            "snopt_solver_f2c.cc",
-            "snopt_solver_common.cc",
-        ],
         # This is when SNOPT is disabled / unavailable.
         "//conditions:default": [
             "no_snopt.cc",
@@ -810,27 +803,19 @@ drake_cc_library(
     }),
     hdrs = ["snopt_solver.h"],
     deps = select({
-        # This is Drake's default flavor (Fortran).
+        # For `--config snopt` or `--config snopt_fortran`.
         "//tools:with_snopt": [
             ":mathematical_program",
             ":solver_base",
             "//math:autodiff",
             "@snopt//:snopt_cwrap",
         ],
-        # This is always the Fortran flavor.
         "//tools:with_snopt_fortran": [
             ":mathematical_program",
             ":solver_base",
             "//math:autodiff",
             "@snopt//:snopt_cwrap",
         ],
-        # This is always the f2c flavor.
-        "//tools:with_snopt_f2c": [
-            ":mathematical_program",
-            ":solver_base",
-            "//math:autodiff",
-            "@snopt//:snopt_c",
-        ],
         # This is when SNOPT is disabled / unavailable.
         "//conditions:default": [
             ":mathematical_program",
@@ -1740,5 +1725,4 @@ add_lint_tests(cpplint_extra_srcs = [
     "snopt_solver.cc",
     "snopt_solver.h",
     "snopt_solver_common.cc",
-    "snopt_solver_f2c.cc",
 ])

solvers/snopt_solver.h

@@ -3,6 +3,7 @@
 #include <string>
 
 #include "drake/common/drake_copyable.h"
+#include "drake/common/drake_deprecated.h"
 #include "drake/solvers/solver_base.h"
 
 namespace drake {
@@ -44,9 +45,11 @@ class SnoptSolver final : public SolverBase  {
   SnoptSolver();
   ~SnoptSolver() final;
 
-  /// @return if the solver is thread safe. SNOPT f2c interface uses global
+  /// @return true.
   /// variables, hence it is not thread safe. SNOPT fortran interface is thread
   /// safe.
+  DRAKE_DEPRECATED("2020-02-01",
+      "The SnoptSolver::is_thread_safe always returns true.")
   static bool is_thread_safe();
 
   /// For some reason, SNOPT 7.4 fails to detect a simple LP being unbounded.

solvers/snopt_solver_common.cc

@@ -15,9 +15,7 @@ SnoptSolver::~SnoptSolver() = default;
 
 SolverId SnoptSolver::id() {
   static const never_destroyed<SolverId> singleton{
-    SnoptSolver::is_available() ?
-      (SnoptSolver::is_thread_safe() ? "SNOPT/fortran" : "SNOPT/f2c") :
-      "SNOPT/unavailable"};
+      SnoptSolver::is_available() ? "SNOPT/fortran" : "SNOPT/unavailable"};
   return singleton.access();
 }