BUILD.bazel

# -*- python -*-

load("//tools/skylark:py.bzl", "py_binary", "py_library")
load("//tools/lint:lint.bzl", "add_lint_tests")
load(
    "@drake//tools/skylark:drake_runfiles_binary.bzl",
    "drake_runfiles_binary",
)
load(
    "@drake_visualizer//:defs.bzl",
    _DRAKE_VISUALIZER_ENABLED = "ENABLED",
)

package(default_visibility = ["//visibility:public"])

py_library(
    name = "module_py",
    srcs = ["__init__.py"],
    visibility = [":__subpackages__"],
    deps = ["//:module_py"],
)

_VISUALIZER_MAIN = "{}:drake_visualizer_{}.py".format(
    "//tools/workspace/drake_visualizer",
    "bazel" if _DRAKE_VISUALIZER_ENABLED else "disabled",
)

py_binary(
    name = "drake_visualizer_py",
    srcs = [_VISUALIZER_MAIN],
    data = [
        "//examples:prod_models",
        "@drake_visualizer",
    ] if _DRAKE_VISUALIZER_ENABLED else [],
    main = _VISUALIZER_MAIN,
    python_version = "PY3",
    srcs_version = "PY3",
    deps = [
        "//lcmtypes:lcmtypes_drake_py",
        "//tools/workspace/drake_visualizer:builtin_scripts_py",
        "//tools/workspace/drake_visualizer:stub_pydrake",
        "@drake_visualizer//:drake_visualizer_python_deps",
        "@optitrack_driver//lcmtypes:py_optitrack_lcmtypes",
    ] if _DRAKE_VISUALIZER_ENABLED else [],
)

drake_runfiles_binary(
    name = "drake_visualizer",
    target = ":drake_visualizer_py",
)

alias(
    name = "meldis",
    actual = "//bindings/pydrake/visualization:meldis",
)

# === config_setting rules ===

# When this is set, a Drake build will promote some warnings to errors.
# See drake/tools/cc_toolchain/bazel.rc for details.
config_setting(
    name = "drake_werror",
    values = {"define": "DRAKE_WERROR=ON"},
)

config_setting(
    name = "with_gurobi",
    values = {"define": "WITH_GUROBI=ON"},
)

config_setting(
    name = "with_mosek",
    values = {"define": "WITH_MOSEK=ON"},
)

config_setting(
    name = "with_snopt",
    values = {"define": "WITH_SNOPT=ON"},
)

# CLP is an open-source solver, and is included in the Drake build by
# default. The CLP solver is irrelevant to some users of MathematicalProgram,
# so we provide a hidden switch to shut it off for developers who don't
# actually need it.  This is not a supported configuration. Use at your own
# risk: --define=NO_CLP=ON
config_setting(
    name = "no_clp",
    values = {"define": "NO_CLP=ON"},
)

# CSDP is an open-source solver, and is included in the Drake build by default.
# The CSDP solver is irrelevant to some users of MathematicalProgram, so we
# provide a hidden switch to shut it off for developers who don't actually need
# it. This is not a supported configuration. Use at your own risk:
# --define=NO_CSDP=ON
config_setting(
    name = "no_csdp",
    values = {"define": "NO_CSDP=ON"},
)

# dReal is an open-source solver, and is included in the Drake build by
# default. The dReal solver is irrelevant to some users of MathematicalProgram,
# so we provide a hidden switch to shut it off for developers who don't
# actually need it.  This is not a supported configuration. Use at your own
# risk: --define=NO_DREAL=ON
config_setting(
    name = "no_dreal",
    values = {"define": "NO_DREAL=ON"},
)

# IPOPT is an open-source solver, and is included in the Drake build by
# default. The IPOPT solver is irrelevant to some users of MathematicalProgram,
# so we provide a hidden switch to shut it off for developers who don't
# actually need it.  This is not a supported configuration. Use at your own
# risk: --define=NO_IPOPT=ON
config_setting(
    name = "no_ipopt",
    values = {"define": "NO_IPOPT=ON"},
)

# NLOPT is an open-source solver, and is included in the Drake build by
# default. The NLOPT solver is irrelevant to some users of MathematicalProgram,
# so we provide a hidden switch to shut it off for developers who don't
# actually need it.  This is not a supported configuration. Use at your own
# risk: --define=NO_NLOPT=ON
config_setting(
    name = "no_nlopt",
    values = {"define": "NO_NLOPT=ON"},
)

# OSQP is an open-source solver, and is included in the Drake build by
# default. The OSQP solver is irrelevant to some users of MathematicalProgram,
# so we provide a hidden switch to shut it off for developers who don't
# actually need it.  This is not a supported configuration. Use at your own
# risk: --define=NO_OSQP=ON
config_setting(
    name = "no_osqp",
    values = {"define": "NO_OSQP=ON"},
)

# SCS is an open-source solver, and is included in the Drake build by default.
# The SCS solver is irrelevant to some users of MathematicalProgram, so we
# provide a hidden switch to shut it off for developers who don't actually need
# it. This is not a supported configuration. Use at your own risk:
# --define=NO_SCS=ON
config_setting(
    name = "no_scs",
    values = {"define": "NO_SCS=ON"},
)

add_lint_tests()