[workspace] Build vendored clp_internal from source

Deprecate the clp external.
RobotLocomotion · Aug 7, 2023 · 2df255f · 2df255f
1 parent d717790
commit 2df255f
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Showing 23 changed files with 421 additions and 76 deletions.
diff --git a/setup/mac/binary_distribution/Brewfile b/setup/mac/binary_distribution/Brewfile
@@ -5,7 +5,6 @@ tap 'robotlocomotion/director'
 
 cask 'adoptopenjdk' unless system '/usr/libexec/java_home --version 1.8+ --failfast &> /dev/null'
 
-brew 'clp'
 brew 'cmake'
 brew 'double-conversion'
 brew 'eigen'

diff --git a/setup/ubuntu/binary_distribution/packages-focal.txt b/setup/ubuntu/binary_distribution/packages-focal.txt
@@ -1,4 +1,3 @@
-coinor-libclp1
 coinor-libcoinutils3v5
 default-jre
 jupyter-notebook

diff --git a/setup/ubuntu/binary_distribution/packages-jammy.txt b/setup/ubuntu/binary_distribution/packages-jammy.txt
@@ -1,4 +1,3 @@
-coinor-libclp1
 coinor-libcoinutils3v5
 default-jre
 jupyter-notebook

diff --git a/setup/ubuntu/source_distribution/packages-focal.txt b/setup/ubuntu/source_distribution/packages-focal.txt
@@ -1,5 +1,4 @@
 clang-format-12
-coinor-libclp-dev
 coinor-libcoinutils-dev
 default-jdk
 file

diff --git a/setup/ubuntu/source_distribution/packages-jammy.txt b/setup/ubuntu/source_distribution/packages-jammy.txt
@@ -1,5 +1,4 @@
 clang-format-12
-coinor-libclp-dev
 coinor-libcoinutils-dev
 default-jdk
 file

diff --git a/solvers/BUILD.bazel b/solvers/BUILD.bazel
@@ -881,7 +881,7 @@ drake_cc_variant_library(
         ":mathematical_program",
     ],
     deps_enabled = [
-        "@clp",
+        "@clp_internal//:clp",
         "//common:unused",
         "//math:autodiff",
     ],

diff --git a/tools/install/libdrake/BUILD.bazel b/tools/install/libdrake/BUILD.bazel
@@ -127,17 +127,6 @@ install(
     ],
 )
 
-# Depend on CLP's shared library iff CLP is enabled.
-cc_library(
-    name = "clp_deps",
-    deps = select({
-        "//conditions:default": [
-            "@clp",
-        ],
-        "//tools:no_clp": [],
-    }),
-)
-
 # Depend on IPOPT's shared library iff IPOPT is enabled and we're on a platform
 # that uses the host OS shared library.
 selects.config_setting_group(
@@ -237,7 +226,6 @@ cc_library(
 cc_library(
     name = "libdrake_runtime_so_deps",
     deps = [
-        ":clp_deps",
         ":gurobi_deps",
         ":ipopt_deps",
         ":mosek_deps",

diff --git a/tools/wheel/image/dependencies/projects.cmake b/tools/wheel/image/dependencies/projects.cmake
@@ -76,20 +76,6 @@ set(lapack_url "https://github.com/Reference-LAPACK/lapack/archive/v${lapack_ver
 set(lapack_md5 "d70fc27a8bdebe00481c97c728184f09")
 list(APPEND ALL_PROJECTS lapack)
 
-# coinutils
-set(coinutils_version 2.11.4)
-set(coinutils_url "https://github.com/coin-or/CoinUtils/archive/refs/tags/releases/${coinutils_version}.tar.gz")
-set(coinutils_md5 "dcdb2a327344014de9d8b050575fa90b")
-set(coinutils_dlname "coinutils-${coinutils_version}.tar.gz")
-list(APPEND ALL_PROJECTS coinutils)
-
-# clp
-set(clp_version 1.17.5)
-set(clp_url "https://github.com/coin-or/Clp/archive/refs/tags/releases/${clp_version}.tar.gz")
-set(clp_md5 "f7c25af22d2f03398cbbdf38c8b4f6fd")
-set(clp_dlname "clp-${clp_version}.tar.gz")
-list(APPEND ALL_PROJECTS clp)
-
 # ipopt (requires mumps)
 if(APPLE)
     set(mumps_version 5.4.1)  # Latest available in Ubuntu.

diff --git a/tools/wheel/image/dependencies/projects/clp.cmake b/tools/wheel/image/dependencies/projects/clp.cmake
diff --git a/tools/wheel/image/dependencies/projects/coinutils.cmake b/tools/wheel/image/dependencies/projects/coinutils.cmake
diff --git a/tools/workspace/BUILD.bazel b/tools/workspace/BUILD.bazel
@@ -47,6 +47,8 @@ drake_py_binary(
     srcs = ["vendor_cxx.py"],
     visibility = [
         # These should all be of the form "@foo_internal//:__subpackages__".
+        "@clp_internal//:__subpackages__",
+        "@coinutils_internal//:__subpackages__",
         "@conex_internal//:__subpackages__",
         "@fcl_internal//:__subpackages__",
         "@gz_math_internal//:__subpackages__",
@@ -79,6 +81,8 @@ drake_py_binary(
 
 _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
     "ccd_internal",
+    "clp_internal",
+    "coinutils_internal",
     "com_jidesoft_jide_oss",
     "common_robotics_utilities",
     "commons_io",

diff --git a/tools/workspace/clp/repository.bzl b/tools/workspace/clp/repository.bzl
@@ -18,5 +18,6 @@ def clp_repository(
         modname = modname,
         pkg_config_paths = pkg_config_paths,
         homebrew_subdir = homebrew_subdir,
+        extra_deprecation = "The @clp external is deprecated in Drake's WORKSPACE and will be removed on or after 2023-12-01.",  # noqa
         **kwargs
     )
diff --git a/tools/workspace/clp_internal/BUILD.bazel b/tools/workspace/clp_internal/BUILD.bazel
@@ -0,0 +1,12 @@
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+filegroup(
+    name = "patches",
+    srcs = glob(
+        ["patches/**"],
+        allow_empty = True,
+    ),
+    visibility = ["//visibility:public"],
+)
+
+add_lint_tests()
diff --git a/tools/workspace/clp_internal/package.BUILD.bazel b/tools/workspace/clp_internal/package.BUILD.bazel
@@ -0,0 +1,166 @@
+# -*- bazel -*-
+
+load(
+    "@drake//tools/install:install.bzl",
+    "install",
+)
+load(
+    "@drake//tools/workspace/coinutils_internal:defs.bzl",
+    "coin_cc_library",
+)
+
+licenses(["reciprocal"])  # EPL-2.0
+
+package(default_visibility = ["//visibility:private"])
+
+exports_files([
+    # Always provide access to license texts.
+    "LICENSE",
+])
+
+_HDRS = glob(
+    [
+        "Clp/src/*.h",
+        "Clp/src/*.hpp",
+    ],
+    exclude = [
+        "**/config*",
+        "**/*Config.h",
+    ],
+    allow_empty = False,
+)
+
+_SRCS = glob(
+    [
+        "Clp/src/*.cpp",
+    ],
+    exclude = [
+        "**/ClpMain*",
+        # We treat COIN_HAS_ABC as OFF.
+        "**/Abc*",
+        "**/CoinAbc*",
+        # We treat COIN_HAS_AMD, COIN_HAS_CHOLMOD, and COIN_HAS_GLPK as OFF.
+        "**/ClpCholeskyUfl*",
+        # We treat COIN_HAS_MUMPS as OFF.
+        # TODO(jwnimmer-tri) We can probably enable this. I've left it off for
+        # now only out of inertia -- Ubuntu builds CLP without MUMPS.
+        "**/ClpCholeskyMumps*",
+        # We treat COIN_HAS_WSMP as OFF.
+        "**/ClpCholeskyWssmp*",
+    ],
+    allow_empty = False,
+)
+
+_AUTOCONF_DEFINES = [
+    "CLP_VERSION=\"drake_vendor\"",
+    "PACKAGE_VERSION=\"drake_vendor\"",
+    "VERSION=\"drake_vendor\"",
+    # Features of the standard library and/or host system.
+    "HAVE_CFLOAT=1",
+    "HAVE_CMATH=1",
+    "HAVE_FLOAT_H=1",
+    "HAVE_INTTYPES_H=1",
+    "HAVE_MATH_H=1",
+    "HAVE_STDINT_H=1",
+    "HAVE_STDLIB_H=1",
+    "HAVE_STRINGS_H=1",
+    "HAVE_STRING_H=1",
+    "HAVE_SYS_STAT_H=1",
+    "HAVE_SYS_TYPES_H=1",
+    "HAVE_UNISTD_H=1",
+    "STDC_HEADERS=1",
+    # Optional dependencies that we do actually want to use.
+    "COIN_HAS_BLAS=1",
+    "COIN_HAS_COINUTILS=1",
+    # No debug self-checks (the default).
+    "COIN_CLP_CHECKLEVEL=0",
+    "COIN_CLP_VERBOSITY=0",
+    # These are no-ops, but they can't be omitted.
+    "CLP_VERSION_MAJOR",
+    "CLP_VERSION_MINOR",
+    "CLP_VERSION_RELEASE",
+]
+
+_AUTOCONF_UNDEFINES = [
+    # Don't use these features of the standard library and/or host system.
+    "F77_DUMMY_MAIN",
+    "F77_FUNC_",
+    "FC_DUMMY_MAIN_EQ_F77",
+    "HAVE_CIEEEFP",
+    "HAVE_DLFCN_H",
+    "HAVE_IEEEFP_H",
+    "HAVE_MEMORY_H",
+    # TODO(jwnimmer-tri) We can probably enable this. I've left it off for now
+    # only out of inertia -- Ubuntu builds CLP without MUMPS.
+    "COIN_HAS_MUMPS",
+    # Optional dependencies that we don't use.
+    "CLP_HAS_ABC",
+    "COIN_HAS_AMD",
+    "COIN_HAS_ASL",
+    "COIN_HAS_CHOLMOD",
+    "COIN_HAS_GLPK",
+    "COIN_HAS_NETLIB",
+    "COIN_HAS_OSI",
+    "COIN_HAS_OSITESTS",
+    "COIN_HAS_READLINE",
+    "COIN_HAS_SAMPLE",
+    "COIN_HAS_WSMP",
+    "HAVE_READLINE_READLINE_H",
+    # Chaff.
+    "CLP_SVN_REV",
+    "PACKAGE",
+    "PACKAGE_BUGREPORT",
+    "PACKAGE_NAME",
+    "PACKAGE_STRING",
+    "PACKAGE_TARNAME",
+    # This is actually used by the C++ code, but autoconf_configure_file can't
+    # handle it. We'll use _CONFIG_PRIVATE_DEFINES for this instead, below.
+    "F77_FUNC",
+]
+
+_CONFIG_PRIVATE_DEFINES = [
+    "F77_FUNC(name,NAME)=name##_",
+    # This is consistent with a bespoke definition in the upstream Makefile.am.
+    # This definition is somehow not provided by autoconf.
+    "COIN_HAS_CLP=1",
+]
+
+_INCLUDES = [
+    "Clp/src/",
+]
+
+coin_cc_library(
+    name = "clp",
+    config_h = "ClpConfig.h",
+    config_h_public = "Clp/src/config_clp_default.h",
+    config_h_private = "Clp/src/config.h.in",
+    autoconf_defines = _AUTOCONF_DEFINES,
+    autoconf_undefines = _AUTOCONF_UNDEFINES,
+    config_private_defines = _CONFIG_PRIVATE_DEFINES,
+    hdrs_public = _HDRS,
+    includes_public = _INCLUDES,
+    hdrs_private = _HDRS,
+    includes_private = _INCLUDES,
+    srcs = _SRCS,
+    vendor_tool_args = ["--no-inline-namespace"],
+    output_vendoring_patch = "drake_clp.patch",
+    deps = [
+        "@coinutils_internal//:coinutils",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+install(
+    name = "install",
+    docs = [
+        "LICENSE",
+        # We must redistribute our code changes, per Clp EPL-2.0 license.
+        ":drake_clp.patch",
+        "@drake//tools/workspace/clp_internal:patches",
+    ],
+    allowed_externals = [
+        "@drake//tools/workspace/clp_internal:patches",
+    ],
+    doc_strip_prefix = ["patches"],
+    visibility = ["//visibility:public"],
+)
diff --git a/tools/workspace/clp_internal/patches/missing_include.patch b/tools/workspace/clp_internal/patches/missing_include.patch
@@ -0,0 +1,12 @@
+[clp] Add missing include for COIN_DBL_MAX
+
+--- Clp/src/CbcOrClpParam.cpp
++++ Clp/src/CbcOrClpParam.cpp
+@@ -3,6 +3,7 @@
+ // Corporation and others.  All Rights Reserved.
+ // This code is licensed under the terms of the Eclipse Public License (EPL).
+
++#include "CoinFinite.hpp"
+ #include "CoinPragma.hpp"
+ #include "CoinTime.hpp"
+ #include "CbcOrClpParam.hpp"
diff --git a/tools/workspace/clp_internal/repository.bzl b/tools/workspace/clp_internal/repository.bzl
@@ -0,0 +1,19 @@
+load(
+    "@drake//tools/workspace:github.bzl",
+    "github_archive",
+)
+
+def clp_internal_repository(
+        name,
+        mirrors = None):
+    github_archive(
+        name = name,
+        repository = "coin-or/Clp",
+        commit = "releases/1.17.8",
+        sha256 = "f9931b5ba44f0daf445c6b48fc2c250dc12e667e59ace8ea7b025f158fe31556",  # noqa
+        build_file = ":package.BUILD.bazel",
+        patches = [
+            ":patches/missing_include.patch",
+        ],
+        mirrors = mirrors,
+    )
diff --git a/tools/workspace/coinutils_internal/BUILD.bazel b/tools/workspace/coinutils_internal/BUILD.bazel
@@ -1,7 +1,12 @@
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
-add_lint_tests()
+filegroup(
+    name = "patches",
+    srcs = glob(
+        ["patches/**"],
+        allow_empty = True,
+    ),
+    visibility = ["//visibility:public"],
+)
 
-# TODO(jwnimmer-tri) In the future, we anticipate adding coinutils as an actual
-# workspace dependency. For now, this is just a convenient place to store some
-# COIN-OR related Bazel macros.
+add_lint_tests()
diff --git a/tools/workspace/coinutils_internal/defs.bzl b/tools/workspace/coinutils_internal/defs.bzl
@@ -179,7 +179,7 @@ def coin_cc_library(
             srcs = [upstream_src, vendor_src],
             outs = [vendor_src + ".patch"],
             cmd = " ".join([
-                "(diff -u0",
+                "(diff -U0",
                 "--label={upstream_src} $(execpath {upstream_src})",
                 "--label={vendor_src} $(execpath {vendor_src})",
                 "> $@ || [[ $$? == 1 ]])",