[workspace] Flag sdformat, ignition_math, ignition_utils as internal

We are substantially patching these libraries to weave them into Drake.
We should not give the illusion to users that they are available for
reuse downstream.

Also take this opportunity to track the ignition => gz project rename.

multibody/parsing/BUILD.bazel

@@ -86,7 +86,7 @@ drake_cc_library(
         "//geometry:proximity_properties",
         "//math:geometric_transform",
         "//multibody/plant",
-        "@sdformat",
+        "@sdformat_internal//:sdformat",
         "@tinyxml2",
     ],
 )
@@ -99,7 +99,7 @@ drake_cc_library(
     visibility = ["//visibility:private"],
     deps = [
         "//common:diagnostic_policy",
-        "@sdformat",
+        "@sdformat_internal//:sdformat",
     ],
 )
 
@@ -118,7 +118,7 @@ drake_cc_library(
         "//geometry:geometry_roles",
         "//geometry:shape_specification",
         "//multibody/plant:coulomb_friction",
-        "@sdformat",
+        "@sdformat_internal//:sdformat",
     ],
 )
 
@@ -136,7 +136,7 @@ drake_cc_library(
         ":detail_urdf_parser",
         ":scoped_names",
         "//multibody/plant",
-        "@sdformat",
+        "@sdformat_internal//:sdformat",
     ],
 )
 

tools/workspace/BUILD.bazel

@@ -77,8 +77,8 @@ _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
     "fcl",
     "fmt",
     "ghc_filesystem",
-    "ignition_math",
-    "ignition_utils",
+    "gz_math_internal",
+    "gz_utils_internal",
     "lcm",
     "meshcat",
     "meshcat_python",
@@ -87,7 +87,7 @@ _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
     "petsc",
     "pybind11",
     "qhull",
-    "sdformat",
+    "sdformat_internal",
     "spdlog",
     "tinyobjloader",
     "usockets",

tools/workspace/default.bzl

@@ -1,5 +1,6 @@
 # -*- python -*-
 
+load("@drake//tools/workspace:deprecation.bzl", "add_deprecation")
 load("@drake//tools/workspace:mirrors.bzl", "DEFAULT_MIRRORS")
 load("@drake//tools/workspace:os.bzl", "os_repository")
 load("@drake//tools/workspace/abseil_cpp_internal:repository.bzl", "abseil_cpp_internal_repository")  # noqa
@@ -36,9 +37,9 @@ load("@drake//tools/workspace/glx:repository.bzl", "glx_repository")
 load("@drake//tools/workspace/googlebenchmark:repository.bzl", "googlebenchmark_repository")  # noqa
 load("@drake//tools/workspace/gtest:repository.bzl", "gtest_repository")
 load("@drake//tools/workspace/gurobi:repository.bzl", "gurobi_repository")
+load("@drake//tools/workspace/gz_math_internal:repository.bzl", "gz_math_internal_repository")  # noqa
+load("@drake//tools/workspace/gz_utils_internal:repository.bzl", "gz_utils_internal_repository")  # noqa
 load("@drake//tools/workspace/ibex:repository.bzl", "ibex_repository")
-load("@drake//tools/workspace/ignition_math:repository.bzl", "ignition_math_repository")  # noqa
-load("@drake//tools/workspace/ignition_utils:repository.bzl", "ignition_utils_repository")  # noqa
 load("@drake//tools/workspace/intel_realsense_ros:repository.bzl", "intel_realsense_ros_repository")  # noqa
 load("@drake//tools/workspace/ipopt:repository.bzl", "ipopt_repository")
 load("@drake//tools/workspace/json:repository.bzl", "json_repository")
@@ -79,7 +80,7 @@ load("@drake//tools/workspace/ros_xacro:repository.bzl", "ros_xacro_repository")
 load("@drake//tools/workspace/rules_pkg:repository.bzl", "rules_pkg_repository")  # noqa
 load("@drake//tools/workspace/rules_python:repository.bzl", "rules_python_repository")  # noqa
 load("@drake//tools/workspace/scs:repository.bzl", "scs_repository")
-load("@drake//tools/workspace/sdformat:repository.bzl", "sdformat_repository")
+load("@drake//tools/workspace/sdformat_internal:repository.bzl", "sdformat_internal_repository")  # noqa
 load("@drake//tools/workspace/snopt:repository.bzl", "snopt_repository")
 load("@drake//tools/workspace/spdlog:repository.bzl", "spdlog_repository")
 load("@drake//tools/workspace/stduuid:repository.bzl", "stduuid_repository")
@@ -178,12 +179,24 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         gtest_repository(name = "gtest", mirrors = mirrors)
     if "gurobi" not in excludes:
         gurobi_repository(name = "gurobi")
+    if "gz_math_internal" not in excludes:
+        gz_math_internal_repository(name = "gz_math_internal", mirrors = mirrors)  # noqa
+    if "gz_utils_internal" not in excludes:
+        gz_utils_internal_repository(name = "gz_utils_internal", mirrors = mirrors)  # noqa
     if "ibex" not in excludes:
         ibex_repository(name = "ibex", mirrors = mirrors)
     if "ignition_math" not in excludes:
-        ignition_math_repository(name = "ignition_math", mirrors = mirrors)
+        add_deprecation(
+            name = "ignition_math",
+            date = "2022-10-01",
+            cc_aliases = {"ignition_math": "@gz_math_internal//:gz_math"},
+        )
     if "ignition_utils" not in excludes:
-        ignition_utils_repository(name = "ignition_utils", mirrors = mirrors)
+        add_deprecation(
+            name = "ignition_utils",
+            date = "2022-10-01",
+            cc_aliases = {"ignition_utils": "@gz_utils_internal//:gz_utils"},
+        )
     if "intel_realsense_ros" not in excludes:
         intel_realsense_ros_repository(name = "intel_realsense_ros", mirrors = mirrors)  # noqa
     if "ipopt" not in excludes:
@@ -265,7 +278,13 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
     if "scs" not in excludes:
         scs_repository(name = "scs", mirrors = mirrors)
     if "sdformat" not in excludes:
-        sdformat_repository(name = "sdformat", mirrors = mirrors)
+        add_deprecation(
+            name = "sdformat",
+            date = "2022-10-01",
+            cc_aliases = {"sdformat": "@sdformat_internal//:sdformat"},
+        )
+    if "sdformat_internal" not in excludes:
+        sdformat_internal_repository(name = "sdformat_internal", mirrors = mirrors)  # noqa
     if "snopt" not in excludes:
         snopt_repository(name = "snopt")
     if "spdlog" not in excludes:

tools/workspace/deprecation.bzl

@@ -0,0 +1,44 @@
+# -*- python -*-
+
+def _impl(repo_ctx):
+    name = repo_ctx.attr.name
+    date = repo_ctx.attr.date
+    cc_aliases = repo_ctx.attr.cc_aliases
+
+    build = "package(default_visibility = [\"//visibility:public\"])\n"
+    deprecation = "".join([
+        "DRAKE DEPRECATED: The @{} external is deprecated".format(name),
+        " and will be removed from Drake on or after {}.".format(date),
+    ])
+    for label, actual in cc_aliases.items():
+        build += "cc_library({})\n".format(", ".join([
+            "name = " + repr(label),
+            "deprecation = " + repr(deprecation),
+        ]))
+
+    repo_ctx.file("BUILD.bazel", build)
+
+add_deprecation = repository_rule(
+    doc = """Adds a repository rule with deprecated aliases to other targets.
+
+    Example:
+        add_deprecation(
+            name = "qhull",
+            date = "2038-01-19",
+            cc_aliases = {"qhull": "@qhull_internal//:qhull"},
+        )
+    """,
+    attrs = {
+        "date": attr.string(
+            doc = "Scheduled removal date of the deprecated target(s).",
+            mandatory = True,
+        ),
+        "cc_aliases": attr.string_dict(
+            doc = """
+            Optional mapping for cc_library deprecations. The keys are
+            deprecated target names, the values are the non-deprecated labels.
+            """,
+        ),
+    },
+    implementation = _impl,
+)

tools/workspace/ignition_math/package.BUILD.bazel → tools/workspace/gz_math_internal/package.BUILD.bazel

@@ -159,7 +159,7 @@ public_headers = public_headers_no_gen + [
 # explicitly listed sources plus private headers.  The explicitly listed
 # hdrs= matches upstream's public headers.
 cc_library(
-    name = "ignition_math",
+    name = "gz_math",
     srcs = [
         "src/Angle.cc",
         "src/AxisAlignedBox.cc",

tools/workspace/ignition_math/repository.bzl → tools/workspace/gz_math_internal/repository.bzl

@@ -2,8 +2,7 @@
 
 load("//tools/workspace:github.bzl", "github_archive")
 
-# TODO(jwnimmer-tri) Rename this to match upstream gz-math.
-def ignition_math_repository(
+def gz_math_internal_repository(
         name,
         mirrors = None):
     # When updating this commit, also remember to adjust the PROJECT_*
@@ -13,6 +12,6 @@ def ignition_math_repository(
         repository = "gazebosim/gz-math",
         commit = "ignition-math6_6.10.0",
         sha256 = "94e853e1dfba97ebec4b6152691a89af1e94660b02f4ecdf04356b763c2848bd",  # noqa
-        build_file = "@drake//tools/workspace/ignition_math:package.BUILD.bazel",  # noqa
+        build_file = "@drake//tools/workspace/gz_math_internal:package.BUILD.bazel",  # noqa
         mirrors = mirrors,
     )

tools/workspace/ignition_utils/package.BUILD.bazel → tools/workspace/gz_utils_internal/package.BUILD.bazel

@@ -87,7 +87,7 @@ public_headers = public_headers_no_gen + [
 ]
 
 cc_library(
-    name = "ignition_utils",
+    name = "gz_utils",
     srcs = private_headers,
     hdrs = public_headers,
     includes = ["include"],

tools/workspace/ignition_utils/repository.bzl → tools/workspace/gz_utils_internal/repository.bzl

@@ -2,8 +2,7 @@
 
 load("//tools/workspace:github.bzl", "github_archive")
 
-# TODO(jwnimmer-tri) Rename this to match upstream gz-utils.
-def ignition_utils_repository(
+def gz_utils_internal_repository(
         name,
         mirrors = None):
     github_archive(
@@ -13,6 +12,6 @@ def ignition_utils_repository(
         # constants in ./package.BUILD.bazel to match the new version number.
         commit = "ignition-utils1_1.0.0",
         sha256 = "55d3285692392f9493a35b680f275ec116584baedeef90de57d2b03dfd952d9d",  # noqa
-        build_file = "@drake//tools/workspace/ignition_utils:package.BUILD.bazel",  # noqa
+        build_file = "@drake//tools/workspace/gz_utils_internal:package.BUILD.bazel",  # noqa
         mirrors = mirrors,
     )

tools/workspace/sdformat/BUILD.bazel → tools/workspace/sdformat_internal/BUILD.bazel

@@ -6,7 +6,7 @@ load("//tools/lint:lint.bzl", "add_lint_tests")
 
 exports_files(
     ["embed_sdf.py"],
-    visibility = ["@sdformat//:__pkg__"],
+    visibility = ["@sdformat_internal//:__pkg__"],
 )
 
 drake_cc_binary(
@@ -15,7 +15,7 @@ drake_cc_binary(
     deps = [
         "//common:essential",
         "@gflags",
-        "@sdformat//:ign_sdf_cmdline",
+        "@sdformat_internal//:ign_sdf_cmdline",
     ],
 )
 

tools/workspace/sdformat/package.BUILD.bazel → tools/workspace/sdformat_internal/package.BUILD.bazel

@@ -134,7 +134,7 @@ genrule(
 
 py_binary(
     name = "embed_sdf",
-    srcs = ["@drake//tools/workspace/sdformat:embed_sdf.py"],
+    srcs = ["@drake//tools/workspace/sdformat_internal:embed_sdf.py"],
     python_version = "PY3",
     srcs_version = "PY3",
 )
@@ -241,8 +241,8 @@ cc_library(
     includes = ["include"],
     linkstatic = 1,
     deps = [
-        "@ignition_math",
-        "@ignition_utils",
+        "@gz_math_internal//:gz_math",
+        "@gz_utils_internal//:gz_utils",
         "@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

tools/workspace/sdformat_internal/repository.bzl

@@ -0,0 +1,21 @@
+# -*- python -*-
+
+load("//tools/workspace:github.bzl", "github_archive")
+
+def sdformat_internal_repository(
+        name,
+        mirrors = None):
+    github_archive(
+        name = name,
+        repository = "gazebosim/sdformat",
+        commit = "sdformat12_12.5.0",
+        build_file = "@drake//tools/workspace/sdformat_internal:package.BUILD.bazel",  # noqa
+        sha256 = "3896772db68b7ca7b18bbf1945a72206885b03d3f0caf29491be5b53b79a7124",  # noqa
+        patches = [
+            "@drake//tools/workspace/sdformat_internal:patches/console.patch",
+            "@drake//tools/workspace/sdformat_internal:patches/deprecation_unit_testing.patch",  # noqa
+            "@drake//tools/workspace/sdformat_internal:patches/no_global_config.patch",  # noqa
+            "@drake//tools/workspace/sdformat_internal:patches/no_urdf.patch",
+        ],
+        mirrors = mirrors,
+    )

tools/workspace/sdformat/test/ign_sdf_test.py → tools/workspace/sdformat_internal/test/ign_sdf_test.py

@@ -57,7 +57,7 @@
 class TestIgnSdf(unittest.TestCase):
     def setUp(self):
         self.maxDiff = None
-        self.bin = "tools/workspace/sdformat/ign_sdf"
+        self.bin = "tools/workspace/sdformat_internal/ign_sdf"
         self.input_file = os.path.join(
             os.environ["TEST_TMPDIR"], "example.sdf"
         )