Restore check that GRB_LICENSE_FILE and MOSEKLM_LICENSE_FILE are set

solvers/BUILD.bazel

@@ -865,6 +865,15 @@ drake_cc_googletest(
     ],
 )
 
+drake_cc_googletest(
+    name = "gurobi_solver_grb_license_file_test",
+    tags = gurobi_test_tags(),
+    deps = [
+        ":gurobi_solver",
+        ":mathematical_program",
+    ],
+)
+
 drake_cc_googletest(
     name = "integer_optimization_util_test",
     deps = [
@@ -980,6 +989,15 @@ drake_cc_googletest(
     ],
 )
 
+drake_cc_googletest(
+    name = "mosek_solver_moseklm_license_file_test",
+    tags = mosek_test_tags(),
+    deps = [
+        ":mathematical_program",
+        ":mosek_solver",
+    ],
+)
+
 drake_cc_googletest(
     name = "nlopt_solver_test",
     srcs = [

solvers/gurobi_solver.cc

@@ -2,6 +2,7 @@
 
 #include <algorithm>
 #include <cmath>
+#include <cstdlib>
 #include <limits>
 #include <stdexcept>
 #include <vector>
@@ -608,6 +609,13 @@ SolutionResult GurobiSolver::Solve(MathematicalProgram& prog) const {
   // We only process quadratic costs and linear / bounding box
   // constraints.
 
+  const char* grb_license_file = std::getenv("GRB_LICENSE_FILE");
+  if (grb_license_file == nullptr) {
+    throw std::runtime_error(
+        "Could not locate Gurobi license key file because GRB_LICENSE_FILE "
+        "environment variable was not set.");
+  }
+
   GRBenv* env = nullptr;
   GRBloadenv(&env, nullptr);
 

solvers/mosek_solver.cc

@@ -2,6 +2,7 @@
 
 #include <algorithm>
 #include <cmath>
+#include <cstdlib>
 #include <limits>
 #include <list>
 #include <stdexcept>
@@ -588,6 +589,13 @@ MSKrescodee SpecifyVariableType(const MathematicalProgram& prog,
 class MosekSolver::License {
  public:
   License() {
+    const char* moseklm_license_file = std::getenv("MOSEKLM_LICENSE_FILE");
+    if (moseklm_license_file == nullptr) {
+      throw std::runtime_error(
+          "Could not locate MOSEK license file because MOSEKLM_LICENSE_FILE "
+          "environment variable was not set.");
+    }
+
     MSKrescodee rescode = MSK_makeenv(&mosek_env_, nullptr);
     if (rescode != MSK_RES_OK) {
       throw std::runtime_error("Could not create MOSEK environment.");

solvers/test/gurobi_solver_grb_license_file_test.cc

@@ -0,0 +1,58 @@
+#include <cstdlib>
+#include <stdexcept>
+
+#include <gtest/gtest.h>
+
+#include "drake/solvers/gurobi_solver.h"
+#include "drake/solvers/mathematical_program.h"
+
+namespace drake {
+namespace solvers {
+namespace {
+
+// These tests are deliberately not in gurobi_solver_test.cc to avoid causing
+// license issues during tests in that file.
+
+GTEST_TEST(GrbLicenseFileTest, GrbLicenseFileSet) {
+  const char* grb_license_file = std::getenv("GRB_LICENSE_FILE");
+  ASSERT_STRNE(nullptr, grb_license_file);
+
+  MathematicalProgram program;
+  // Add a variable to avoid the "Solve" function terminating without calling
+  // the external Gurobi solver.
+  const auto x = program.NewContinuousVariables<1>();
+  GurobiSolver solver;
+
+  EXPECT_NO_THROW(solver.Solve(program));
+}
+
+GTEST_TEST(GrbLicenseFileTest, GrbLicenseFileUnset) {
+  const char* grb_license_file = std::getenv("GRB_LICENSE_FILE");
+  ASSERT_STRNE(nullptr, grb_license_file);
+
+  const int unsetenv_result = ::unsetenv("GRB_LICENSE_FILE");
+  ASSERT_EQ(0, unsetenv_result);
+
+  MathematicalProgram program;
+  // Add a variable to avoid the "Solve" function terminating without calling
+  // the external Gurobi solver.
+  const auto x = program.NewContinuousVariables<1>();
+  GurobiSolver solver;
+
+  try {
+    solver.Solve(program);
+    ADD_FAILURE() << "Expected exception of type std::runtime_error.";
+  } catch (const std::runtime_error& err) {
+    EXPECT_EQ(err.what(), std::string("Could not locate Gurobi license key "
+        "file because GRB_LICENSE_FILE environment variable was not set."));
+  } catch (...) {
+    ADD_FAILURE() << "Expected exception of type std::runtime_error.";
+  }
+
+  const int setenv_result = ::setenv("GRB_LICENSE_FILE", grb_license_file, 1);
+  ASSERT_EQ(0, setenv_result);
+}
+
+}  // namespace
+}  // namespace solvers
+}  // namespace drake

solvers/test/mosek_solver_moseklm_license_file_test.cc

@@ -0,0 +1,59 @@
+#include <cstdlib>
+#include <stdexcept>
+
+#include <gtest/gtest.h>
+
+#include "drake/solvers/mathematical_program.h"
+#include "drake/solvers/mosek_solver.h"
+
+namespace drake {
+namespace solvers {
+namespace {
+
+// These tests is deliberately not in mosek_solver_test.cc to avoid causing
+// license issues during tests in that file.
+
+GTEST_TEST(MoseklmLicenseFileTest, MoseklmLicenseFileSet) {
+  const char* moseklm_license_file = std::getenv("MOSEKLM_LICENSE_FILE");
+  ASSERT_STRNE(nullptr, moseklm_license_file);
+
+  MathematicalProgram program;
+  // Add a variable to avoid the "Solve" function terminating without calling
+  // the external MOSEK solver.
+  const auto x = program.NewContinuousVariables<1>();
+  MosekSolver solver;
+
+  EXPECT_NO_THROW(solver.Solve(program));
+}
+
+GTEST_TEST(MoseklmLicenseFileTest, MoseklmLicenseFileUnset) {
+  const char* moseklm_license_file = std::getenv("MOSEKLM_LICENSE_FILE");
+  ASSERT_STRNE(nullptr, moseklm_license_file);
+
+  const int unsetenv_result = ::unsetenv("MOSEKLM_LICENSE_FILE");
+  ASSERT_EQ(0, unsetenv_result);
+
+  MathematicalProgram program;
+  // Add a variable to avoid the "Solve" function terminating without calling
+  // the external MOSEK solver.
+  const auto x = program.NewContinuousVariables<1>();
+  MosekSolver solver;
+
+  try {
+    solver.Solve(program);
+    ADD_FAILURE() << "Expected exception of type std::runtime_error.";
+  } catch (const std::runtime_error& err) {
+    EXPECT_EQ(err.what(), std::string("Could not locate MOSEK license file "
+        "because MOSEKLM_LICENSE_FILE environment variable was not set."));
+  } catch (...) {
+    ADD_FAILURE() << "Expected exception of type std::runtime_error.";
+  }
+
+  const int setenv_result =
+      ::setenv("MOSEKLM_LICENSE_FILE", moseklm_license_file, 1);
+  ASSERT_EQ(0, setenv_result);
+}
+
+}  // namespace
+}  // namespace solvers
+}  // namespace drake