[workspace] Build tinyxml2 from source (#17830)

* [workspace] Build tinyxml2 from source

Deprecate the repository rule for the OS library.

BUILD.bazel

@@ -52,7 +52,6 @@ install(
         "//lcmtypes:install",
         "//manipulation/models:install_data",
         "//setup:install",
-        "//tools/install/cmake:install",
         "//tools/install/libdrake:install",
         "//tools/workspace:install_external_packages",
         "//tutorials:install",

multibody/parsing/BUILD.bazel

@@ -61,7 +61,7 @@ drake_cc_library(
     deps = [
         "//common",
         "//common:filesystem",
-        "@tinyxml2",
+        "@tinyxml2_internal//:tinyxml2",
     ],
 )
 
@@ -98,7 +98,7 @@ drake_cc_library(
         "//math:geometric_transform",
         "//multibody/plant",
         "@sdformat_internal//:sdformat",
-        "@tinyxml2",
+        "@tinyxml2_internal//:tinyxml2",
     ],
 )
 
@@ -169,7 +169,7 @@ drake_cc_library(
         ":scoped_names",
         "//common:filesystem",
         "@fmt",
-        "@tinyxml2",
+        "@tinyxml2_internal//:tinyxml2",
     ],
 )
 
@@ -184,7 +184,7 @@ drake_cc_library(
         ":scoped_names",
         "//multibody/plant",
         "@fmt",
-        "@tinyxml2",
+        "@tinyxml2_internal//:tinyxml2",
     ],
 )
 

multibody/parsing/detail_common.h

@@ -7,7 +7,7 @@
 #include <variant>
 
 #include <drake_vendor/sdf/Element.hh>
-#include <tinyxml2.h>
+#include <drake_vendor/tinyxml2.h>
 
 #include "drake/common/diagnostic_policy.h"
 #include "drake/common/drake_copyable.h"

multibody/parsing/detail_mujoco_parser.cc

@@ -8,8 +8,8 @@
 #include <utility>
 #include <vector>
 
+#include <drake_vendor/tinyxml2.h>
 #include <fmt/format.h>
-#include <tinyxml2.h>
 
 #include "drake/geometry/shape_specification.h"
 #include "drake/math/rigid_transform.h"

multibody/parsing/detail_tinyxml.h

@@ -5,7 +5,7 @@
 #include <vector>
 
 #include <Eigen/Dense>
-#include <tinyxml2.h>
+#include <drake_vendor/tinyxml2.h>
 
 #include "drake/common/diagnostic_policy.h"
 #include "drake/math/rigid_transform.h"

multibody/parsing/detail_tinyxml2_diagnostic.h

@@ -2,7 +2,7 @@
 
 #include <string>
 
-#include <tinyxml2.h>
+#include <drake_vendor/tinyxml2.h>
 
 #include "drake/common/diagnostic_policy.h"
 #include "drake/multibody/parsing/detail_common.h"

multibody/parsing/detail_urdf_geometry.h

@@ -8,7 +8,7 @@
 #include <utility>
 
 #include <Eigen/Dense>
-#include <tinyxml2.h>
+#include <drake_vendor/tinyxml2.h>
 
 #include "drake/common/diagnostic_policy.h"
 #include "drake/geometry/geometry_instance.h"

multibody/parsing/detail_urdf_parser.cc

@@ -13,8 +13,8 @@
 #include <vector>
 
 #include <Eigen/Dense>
+#include <drake_vendor/tinyxml2.h>
 #include <fmt/format.h>
-#include <tinyxml2.h>
 
 #include "drake/common/sorted_pair.h"
 #include "drake/math/rotation_matrix.h"

multibody/parsing/package_map.cc

@@ -9,7 +9,7 @@
 #include <tuple>
 #include <utility>
 
-#include <tinyxml2.h>
+#include <drake_vendor/tinyxml2.h>
 
 #include "drake/common/drake_assert.h"
 #include "drake/common/drake_path.h"

setup/mac/binary_distribution/Brewfile

@@ -28,6 +28,8 @@ brew '[email protected]'
 brew 'spdlog'
 brew 'suite-sparse'
 brew 'tinyxml'
+# TODO(jwnimmer-tri) Drop tinyxml2 as of the deprecation 2023-01-01.
+# Ditto for the Ubuntu prereqs.
 brew 'tinyxml2'
 brew 'robotlocomotion/director/[email protected]'
 brew 'xz'

tools/install/libdrake/BUILD.bazel

@@ -232,7 +232,6 @@ cc_library(
         "//common:drake_marker_shared_library",
         "@lcm",
         "@spdlog",
-        "@tinyxml2",
     ],
 )
 

tools/install/libdrake/drake-config.cmake

@@ -26,7 +26,6 @@ find_dependency(fmt 6.0 CONFIG HINTS "${${CMAKE_FIND_PACKAGE_NAME}_IMPORT_PREFIX
 find_dependency(lcm 1.4 CONFIG HINTS "${${CMAKE_FIND_PACKAGE_NAME}_IMPORT_PREFIX}/lib/cmake/lcm")
 find_dependency(optitrack CONFIG HINTS "${${CMAKE_FIND_PACKAGE_NAME}_IMPORT_PREFIX}/lib/cmake/optitrack")
 find_dependency(spdlog 1.5 CONFIG HINTS "${${CMAKE_FIND_PACKAGE_NAME}_IMPORT_PREFIX}/lib/cmake/spdlog")
-find_dependency(TinyXML2 2.2 MODULE)
 set(_expectedTargets drake::drake drake::drake-lcmtypes-cpp drake::drake-lcmtypes-java drake::drake-marker)
 
 set(_targetsDefined)
@@ -62,7 +61,7 @@ set_target_properties(drake::drake PROPERTIES
   IMPORTED_LOCATION "${${CMAKE_FIND_PACKAGE_NAME}_IMPORT_PREFIX}/lib/libdrake.so"
   IMPORTED_SONAME "${_apple_soname_prologue}libdrake.so"
   INTERFACE_INCLUDE_DIRECTORIES "${${CMAKE_FIND_PACKAGE_NAME}_IMPORT_PREFIX}/include"
-  INTERFACE_LINK_LIBRARIES "drake::drake-lcmtypes-cpp;drake::drake-marker;Eigen3::Eigen;fmt::fmt-header-only;lcm::lcm;optitrack::optitrack-lcmtypes-cpp;spdlog::spdlog;tinyxml2::tinyxml2"
+  INTERFACE_LINK_LIBRARIES "drake::drake-lcmtypes-cpp;drake::drake-marker;Eigen3::Eigen;fmt::fmt-header-only;lcm::lcm;optitrack::optitrack-lcmtypes-cpp;spdlog::spdlog"
   INTERFACE_COMPILE_FEATURES "cxx_std_17"
   INTERFACE_COMPILE_DEFINITIONS "HAVE_SPDLOG"
 )

tools/wheel/image/dependencies/projects.cmake

@@ -56,13 +56,6 @@ set(libtiff_url "http://download.osgeo.org/libtiff/tiff-${libtiff_version}.tar.g
 set(libtiff_md5 "2165e7aba557463acc0664e71a3ed424")
 list(APPEND ALL_PROJECTS libtiff)
 
-# tinyxml2
-set(tinyxml2_version 7.0.1)
-set(tinyxml2_url "https://github.com/leethomason/tinyxml2/archive/${tinyxml2_version}.zip")
-set(tinyxml2_md5 "03ad292c4b6454702c0cc22de0d196ad")
-set(tinyxml2_dlname "tinyXML2.zip")
-list(APPEND ALL_PROJECTS tinyxml2)
-
 # msgpack
 set(msgpack_version 3.1.0)
 set(msgpack_url "https://github.com/msgpack/msgpack-c/releases/download/cpp-${msgpack_version}/msgpack-${msgpack_version}.tar.gz")

tools/workspace/BUILD.bazel

@@ -98,6 +98,7 @@ _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
     "spdlog",
     "statsjs",
     "tinyobjloader",
+    "tinyxml2_internal",
     "usockets",
     "uwebsockets",
     "vtk",

tools/workspace/default.bzl

@@ -92,6 +92,7 @@ load("@drake//tools/workspace/styleguide:repository.bzl", "styleguide_repository
 load("@drake//tools/workspace/suitesparse:repository.bzl", "suitesparse_repository")  # noqa
 load("@drake//tools/workspace/tinyobjloader:repository.bzl", "tinyobjloader_repository")  # noqa
 load("@drake//tools/workspace/tinyxml2:repository.bzl", "tinyxml2_repository")
+load("@drake//tools/workspace/tinyxml2_internal:repository.bzl", "tinyxml2_internal_repository")  # noqa
 load("@drake//tools/workspace/tomli_internal:repository.bzl", "tomli_internal_repository")  # noqa
 load("@drake//tools/workspace/typing_extensions_internal:repository.bzl", "typing_extensions_internal_repository")  # noqa
 load("@drake//tools/workspace/uritemplate_py_internal:repository.bzl", "uritemplate_py_internal_repository")  # noqa
@@ -353,6 +354,8 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         tinyobjloader_repository(name = "tinyobjloader", mirrors = mirrors)
     if "tinyxml2" not in excludes:
         tinyxml2_repository(name = "tinyxml2")
+    if "tinyxml2_internal" not in excludes:
+        tinyxml2_internal_repository(name = "tinyxml2_internal", mirrors = mirrors)  # noqa
     if "tomli_internal" not in excludes:
         tomli_internal_repository(name = "tomli_internal", mirrors = mirrors)
     if "typing_extensions_internal" not in excludes:

tools/workspace/sdformat_internal/package.BUILD.bazel

@@ -265,6 +265,7 @@ cc_library_vendored(
         "sdf/": "drake_vendor/sdf/",
         "ignition/math/": "drake_vendor/ignition/math/",
         "ignition/utils/": "drake_vendor/ignition/utils/",
+        "tinyxml2": "drake_vendor/tinyxml2",
     },
     includes = ["drake_src"],
     copts = ["-w"],
@@ -274,7 +275,7 @@ cc_library_vendored(
     deps = [
         "@gz_math_internal//:gz_math",
         "@gz_utils_internal//:gz_utils",
-        "@tinyxml2",
+        "@tinyxml2_internal//:tinyxml2",
         # N.B. It's very unusual to add a dependency from a third-party library
         # onto Drake, but in this case it's the simplest way to be able to send
         # error messages from sdformat parsing into Drake's logging API.

tools/workspace/tinyxml2/repository.bzl

@@ -17,5 +17,6 @@ def tinyxml2_repository(
         licenses = licenses,
         modname = modname,
         pkg_config_paths = pkg_config_paths,
+        extra_deprecation = "DRAKE DEPRECATED: The @tinyxml2 alias for the operating system's library is no longer used by Drake. If you still use it, you may copy the @tinyxml2 repository rule into your own project. This target will be removed from Drake on or after 2023-01-01.",  # noqa
         **kwargs
     )

tools/workspace/tinyxml2_internal/BUILD.bazel

@@ -0,0 +1,5 @@
+# -*- python -*-
+
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+add_lint_tests()

tools/workspace/tinyxml2_internal/package.BUILD.bazel

@@ -0,0 +1,25 @@
+# -*- python -*-
+
+load(
+    "@drake//tools/install:install.bzl",
+    "install",
+)
+
+licenses(["notice"])  # zlib
+
+package(default_visibility = ["//visibility:private"])
+
+cc_library(
+    name = "tinyxml2",
+    hdrs = ["tinyxml2.h"],
+    srcs = ["tinyxml2.cpp"],
+    include_prefix = "drake_vendor",
+    linkstatic = 1,
+    visibility = ["//visibility:public"],
+)
+
+install(
+    name = "install",
+    docs = ["LICENSE.txt"],
+    visibility = ["//visibility:public"],
+)

tools/workspace/tinyxml2_internal/patches/namespace.patch

@@ -0,0 +1,44 @@
+Add a drake_vendor namespace ala tools/workspace/vendor_cxx
+
+This prevents link-time symbol conflicts in case code downstream of
+Drake wants to use a different build of tinyxml2.
+
+Note that the upstream source repository contains windows newlines
+throughout, so we need to entertain `^M` shrapnel throughout this
+patch file.
+
+--- tinyxml2.h.orig	2021-06-06 17:10:24.000000000 -0700
++++ tinyxml2.h	2022-09-03 07:30:36.319764029 -0700
+@@ -42,6 +42,8 @@
+ #endif
+ #include <stdint.h>
+
++inline namespace drake_vendor __attribute__ ((visibility ("hidden"))) {
++
+ /*
+    TODO: intern strings instead of allocation.
+ */
+@@ -2377,4 +2379,6 @@
+ #   pragma warning(pop)
+ #endif
+
++}  // namespace drake_vendor
++
+ #endif // TINYXML2_INCLUDED
+--- tinyxml2.cpp.orig	2021-06-06 17:10:24.000000000 -0700
++++ tinyxml2.cpp	2022-09-03 07:31:12.036248705 -0700
+@@ -32,6 +32,8 @@
+ #   include <cstdarg>
+ #endif
+
++inline namespace drake_vendor __attribute__ ((visibility ("hidden"))) {
++
+ #if defined(_MSC_VER) && (_MSC_VER >= 1400 ) && (!defined WINCE)
+ 	// Microsoft Visual Studio, version 2005 and higher. Not WinCE.
+ 	/*int _snprintf_s(
+@@ -2984,3 +2986,5 @@
+ }
+
+ }   // namespace tinyxml2
++
++}  // namespace drake_vendor

tools/workspace/tinyxml2_internal/repository.bzl

@@ -0,0 +1,18 @@
+# -*- python -*-
+
+load("@drake//tools/workspace:github.bzl", "github_archive")
+
+def tinyxml2_internal_repository(
+        name,
+        mirrors = None):
+    github_archive(
+        name = name,
+        repository = "leethomason/tinyxml2",
+        commit = "9.0.0",
+        sha256 = "cc2f1417c308b1f6acc54f88eb70771a0bf65f76282ce5c40e54cfe52952702c",  # noqa
+        build_file = ":package.BUILD.bazel",
+        patches = [
+            ":patches/namespace.patch",
+        ],
+        mirrors = mirrors,
+    )