Add and use drake::temp_directory function instead of using /tmp

automotive/BUILD.bazel

@@ -381,6 +381,7 @@ drake_cc_library(
         ":trajectory_car",
         "//automotive/maliput/api",
         "//automotive/maliput/utility",
+        "//common:temp_directory",
         "//lcm",
         "//multibody/parsers",
         "//multibody/rigid_body_plant:drake_visualizer",

automotive/automotive_simulator.cc

@@ -14,6 +14,7 @@
 #include "drake/automotive/maliput/utility/generate_urdf.h"
 #include "drake/automotive/prius_vis.h"
 #include "drake/common/drake_throw.h"
+#include "drake/common/temp_directory.h"
 #include "drake/common/text_logging.h"
 #include "drake/lcm/drake_lcm.h"
 #include "drake/lcmt_viewer_draw.hpp"
@@ -443,10 +444,11 @@ void AutomotiveSimulator<T>::GenerateAndLoadRoadNetworkUrdf() {
   std::string filename = road_->id().string();
   std::transform(filename.begin(), filename.end(), filename.begin(),
                  [](char ch) { return ch == ' ' ? '_' : ch; });
+  const std::string tmpdir = drake::temp_directory();
   maliput::utility::GenerateUrdfFile(road_.get(),
-                                     "/tmp", filename,
+                                     tmpdir, filename,
                                      maliput::utility::ObjFeatures());
-  const std::string urdf_filepath = "/tmp/" + filename + ".urdf";
+  const std::string urdf_filepath = tmpdir + "/" + filename + ".urdf";
   parsers::urdf::AddModelInstanceFromUrdfFileToWorld(
       urdf_filepath,
       drake::multibody::joints::kFixed,

bindings/pydrake/common_py.cc

@@ -7,6 +7,7 @@
 #include "drake/common/drake_assertion_error.h"
 #include "drake/common/drake_path.h"
 #include "drake/common/find_resource.h"
+#include "drake/common/temp_directory.h"
 
 namespace drake {
 namespace pydrake {
@@ -50,6 +51,10 @@ PYBIND11_MODULE(_common_py, m) {
         "e.g., drake/examples/pendulum/Pendulum.urdf. Raises an exception "
         "if the resource was not found.",
         py::arg("resource_path"));
+  m.def("temp_directory", &temp_directory,
+        "Returns a directory location suitable for temporary files that is "
+        "the value of the environment variable TEST_TMPDIR if defined or "
+        "otherwise /tmp. Any trailing / will be stripped from the output.");
   // Returns the fully-qualified path to the root of the `drake` source tree.
   #pragma GCC diagnostic push
   #pragma GCC diagnostic ignored "-Wdeprecated-declarations"

bindings/pydrake/test/common_test.py

@@ -1,11 +1,12 @@
 from __future__ import absolute_import, division, print_function
 
+import os
 import unittest
 import pydrake.common
 
 
 class TestCommon(unittest.TestCase):
-    def testDrakeDemandThrows(self):
+    def test_drake_demand_throws(self):
         # Drake's assertion errors should turn into SystemExit by default,
         # without the user needing to do anything special.  Here, we trigger a
         # C++ assertion failure from Python and confirm that an exception with
@@ -23,7 +24,11 @@ def testDrakeDemandThrows(self):
                     " condition 'false' failed",
                 ]))
 
-    def testDrakeFindResourceOrThrow(self):
+    def test_find_resource_or_throw(self):
         pydrake.common.FindResourceOrThrow(
             'drake/examples/atlas/urdf/atlas_convex_hull.urdf'
             )
+
+    def test_temp_directory(self):
+        self.assertEqual(os.environ.get('TEST_TMPDIR'),
+                         pydrake.common.temp_directory())

common/BUILD.bazel

@@ -45,6 +45,7 @@ drake_cc_library(
         ":sorted_vectors_have_intersection",
         ":symbolic",
         ":symbolic_decompose",
+        ":temp_directory",
         ":type_safe_index",
         ":unused",
     ],
@@ -355,6 +356,16 @@ drake_cc_library(
     ],
 )
 
+drake_cc_library(
+    name = "temp_directory",
+    srcs = ["temp_directory.cc"],
+    hdrs = ["temp_directory.h"],
+    deps = [
+        ":essential",
+        "@spruce",
+    ],
+)
+
 drake_cc_library(
     name = "text_logging_gflags",
     hdrs = ["text_logging_gflags.h"],
@@ -942,6 +953,13 @@ drake_cc_googletest(
     ],
 )
 
+drake_cc_googletest(
+    name = "temp_directory_test",
+    deps = [
+        ":temp_directory",
+    ],
+)
+
 drake_cc_googletest(
     name = "text_logging_test",
     deps = [

common/proto/BUILD.bazel

@@ -36,6 +36,7 @@ drake_cc_library(
     deps = [
         ":matlab_rpc",
         "//common:essential",
+        "//common:temp_directory",
     ],
 )
 
@@ -55,6 +56,7 @@ drake_cc_library(
     deps = [
         ":call_matlab",
         "//common:copyable_unique_ptr",
+        "//common:temp_directory",
     ],
 )
 

common/proto/call_matlab.cc

@@ -11,6 +11,7 @@
 
 #include "drake/common/drake_assert.h"
 #include "drake/common/never_destroyed.h"
+#include "drake/common/temp_directory.h"
 
 namespace drake {
 namespace common {
@@ -117,7 +118,8 @@ CreateOutputStream(const std::string& filename) {
 
 void PublishCallMatlab(const MatlabRPC& message) {
   // TODO(russt): Provide option for setting the filename.
-  static auto raw_output = CreateOutputStream("/tmp/matlab_rpc");
+  const std::string output_file = temp_directory() + "/matlab_rpc";
+  static auto raw_output = CreateOutputStream(output_file);
   PublishCall(raw_output.get(), message);
 }
 

common/proto/call_python.cc

@@ -3,6 +3,7 @@
 #include <memory>
 
 #include "drake/common/proto/matlab_rpc.pb.h"
+#include "drake/common/temp_directory.h"
 
 namespace drake {
 namespace common {
@@ -27,14 +28,13 @@ void ToMatlabArray(const PythonRemoteVariable& var, MatlabArray* matlab_array) {
 
 namespace {
 
-const char kFilenameDefault[] = "/tmp/python_rpc";
-
 auto GetPythonOutputStream(const std::string* filename = nullptr) {
   static std::unique_ptr<google::protobuf::io::FileOutputStream> raw_output;
   if (!raw_output) {
     // If we do not yet have a file, create it.
+    const std::string filename_default = temp_directory() + "/python_rpc";
     raw_output =
-        internal::CreateOutputStream(filename ? *filename : kFilenameDefault);
+        internal::CreateOutputStream(filename ? *filename : filename_default);
   } else {
     // If we already have a file, ensure that this does not come from
     // `CallPythonInit`.

common/proto/call_python_client.py

@@ -242,9 +242,6 @@ def magic(N):
         locals())
 
 
-_FILENAME_DEFAULT = "/tmp/python_rpc"
-
-
 class CallPythonClient(object):
     """Provides a client to receive Python commands.
 
@@ -255,7 +252,9 @@ def __init__(self, filename=None, stop_on_error=True,
                  scope_globals=None, scope_locals=None,
                  threaded=True, wait=False):
         if filename is None:
-            self.filename = _FILENAME_DEFAULT
+            # TODO(jamiesnape): Use drake.common.temp_directory.
+            temp_directory = os.environ.get("TEST_TMPDIR", "/tmp")
+            self.filename = os.path.join(temp_directory, "python_rpc")
         else:
             self.filename = filename
         # Scope. Give it access to everything here.

common/proto/test/call_python_full_test.sh

@@ -35,7 +35,7 @@ cc_bin=${cur}/call_python_test
 py_client_cli=${cur}/call_python_client_cli
 # TODO(eric.cousineau): Use `tempfile` once we can choose which file C++
 # uses.
-filename=$(mktemp)
+filename="${TEST_TMPDIR}/python_rpc"
 done_file=${filename}_done
 
 cc_bin_flags=

common/temp_directory.cc

@@ -0,0 +1,24 @@
+#include "drake/common/temp_directory.h"
+
+#include <cstdlib>
+
+#include <spruce.hh>
+
+#include "drake/common/drake_throw.h"
+
+namespace drake {
+
+std::string temp_directory() {
+  // TODO(jamiesnape): Use mkdtemp instead of simply returning /tmp for
+  // applications that do not require a hardcoded /tmp.
+  const char* path_str = nullptr;
+  (path_str = std::getenv("TEST_TMPDIR")) || (path_str = "/tmp");
+
+  // Spruce normalizes the path and strips any trailing /.
+  spruce::path path(path_str);
+  DRAKE_THROW_UNLESS(path.isDir());
+
+  return path.getStr();
+}
+
+}  // namespace drake

common/temp_directory.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include <string>
+
+namespace drake {
+
+/// Returns a directory location suitable for temporary files.
+/// @return The value of the environment variable TEST_TMPDIR if defined or
+/// otherwise /tmp. Any trailing / will be stripped from the output.
+/// @throws std::runtime_error If the path referred to by TEST_TMPDIR or /tmp
+/// does not exist or is not a directory.
+std::string temp_directory();
+
+}  // namespace drake

common/test/temp_directory_test.cc

@@ -0,0 +1,35 @@
+#include "drake/common/temp_directory.h"
+
+#include <cstdlib>
+#include <string>
+
+#include <gtest/gtest.h>
+
+namespace drake {
+namespace {
+
+GTEST_TEST(TempDirectoryTest, TestTmpdirSet) {
+  const char* test_tmpdir = std::getenv("TEST_TMPDIR");
+  ASSERT_STRNE(nullptr, test_tmpdir);
+
+  const std::string temp_directory_with_test_tmpdir_set = temp_directory();
+  EXPECT_NE('/', temp_directory_with_test_tmpdir_set.back());
+  EXPECT_EQ(std::string(test_tmpdir), temp_directory_with_test_tmpdir_set);
+}
+
+GTEST_TEST(TempDirectoryTest, TestTmpdirUnset) {
+  const char* test_tmpdir = std::getenv("TEST_TMPDIR");
+  ASSERT_STRNE(nullptr, test_tmpdir);
+
+  const int unset_result = ::unsetenv("TEST_TMPDIR");
+  ASSERT_EQ(0, unset_result);
+
+  const std::string temp_directory_with_test_tmpdir_unset = temp_directory();
+  EXPECT_EQ("/tmp", temp_directory_with_test_tmpdir_unset);
+
+  const int setenv_result = ::setenv("TEST_TMPDIR", test_tmpdir, 1);
+  ASSERT_EQ(0, setenv_result);
+}
+
+}  // namespace
+}  // namespace drake

matlab/call_matlab_client.cc

@@ -18,6 +18,7 @@
 
 #include "drake/common/drake_assert.h"
 #include "drake/common/proto/matlab_rpc.pb.h"
+#include "drake/common/temp_directory.h"
 #include "drake/common/unused.h"
 
 namespace {
@@ -101,7 +102,7 @@ void mexFunction(int nlhs, mxArray* plhs[], int nrhs, const mxArray* prhs[]) {
   drake::unused(nlhs);
   drake::unused(plhs);
 
-  std::string filename = "/tmp/matlab_rpc";
+  std::string filename = drake::temp_directory() + "/matlab_rpc";
 
   if (nrhs == 1) {
     filename = mxGetStdString(prhs[0]);

solvers/BUILD.bazel

@@ -1117,6 +1117,7 @@ drake_cc_googletest(
         ":mathematical_program_test_util",
         ":optimization_examples",
         ":quadratic_program_examples",
+        "//common:temp_directory",
         "//common/test_utilities:eigen_matrix_compare",
         "@spruce",
     ],

solvers/test/snopt_solver_test.cc

@@ -3,6 +3,7 @@
 #include <gtest/gtest.h>
 #include <spruce.hh>
 
+#include "drake/common/temp_directory.h"
 #include "drake/common/test_utilities/eigen_matrix_compare.h"
 #include "drake/solvers/mathematical_program.h"
 #include "drake/solvers/test/linear_program_examples.h"
@@ -88,7 +89,7 @@ GTEST_TEST(SnoptTest, TestSetOption) {
   EXPECT_EQ(result, SolutionResult::kIterationLimit);
 
   // This is to verify we can set the print out file.
-  std::string print_file = std::string(::getenv("TEST_TMPDIR")) + "/snopt.out";
+  std::string print_file = temp_directory() + "/snopt.out";
   std::cout << print_file << std::endl;
   EXPECT_FALSE(spruce::path(print_file).exists());
   prog.SetSolverOption(SnoptSolver::id(), "Print file", print_file);

tools/install/libdrake/build_components.bzl

@@ -82,6 +82,7 @@ LIBDRAKE_COMPONENTS = [
     "//common:sorted_vectors_have_intersection",
     "//common:symbolic",
     "//common:symbolic_decompose",
+    "//common:temp_directory",
     "//common:text_logging_gflags_h",
     "//common:type_safe_index",
     "//common:unused",