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Switching to a pegged revision of drake (as default) (#36)
* Following jwnimmer's advice, utilizing pegged revisions as the default, with an option to use a local copy. * Added scripts to auto-install pre-reqs.
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‎BUILD.bazel

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# -*- mode: python -*-
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# vi: set ft=python :
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# Copyright (c) 2019, Toyota Research Institute.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright notice, this
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# list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# * Neither the name of the copyright holder nor the names of its contributors
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# may be used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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# This is an empty BUILD file, to ensure that the project's root directory is a
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# bazel package.

‎README.md

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## Complete Build Instructions
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### Build Drake
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The library is meant to be built with Drake (see http://drake.mit.edu/ for more details)
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The library is meant to be built with Drake (see http://drake.mit.edu/ for more details). There are two ways to use Drake within dairlib:
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#### Option 1: use pegged revision
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The only specific action needed here is to install all of Drake's prerequisites. There are two choices
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1. (Experimental) In `dairlib` (after cloning below), run the appropriate `install_prereqs_xxx.sh` file in `install`. This is untested on mac, and has not been tested to get every dependency for a fresh install.
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2. Download a source copy of drake, and install pre-requisites as described here: http://drake.mit.edu/from_source.html
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bazel will automatically download the pegged revision, specified in the WORKSPACE file. dairlib developers hope to keep this pegged revision current, and ensure that the pegged version will always work with a specific version of dairlib.
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This option is recommended for users who are not currently editing any source code in Drake itself.
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#### Option 2: source install of Drake
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Install Drake from source into `"my-workspace"/drake` http://drake.mit.edu/from_source.html. You do not need to build it, but prerequisites should also be installed. You will need `git` to start.
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To tell dairlib to use your local install, set the environment variable `DAIRLIB_LOCAL_DRAKE_PATH`, e.g.
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```
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export DAIRLIB_LOCAL_DRAKE_PATH=/home/user/my-workspace/drake
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```
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### Other dependencies
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These dependencies are necessary for some advanced visualization and process management. Many examples will work without a full installation of Director or libbot, but (for lab members), these are ultimately recommended.
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1. Install a local copy of `lcm` and `libbot2` using `sudo apt install lcm libbot2'. The prerequisites installation from Drake should add the proper repo for these.

‎WORKSPACE

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workspace(name = "dairlib")
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local_repository(
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name = "drake",
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path = "../drake",
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)
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# dairlib can use either a local version of drake or a pegged revision
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# If the environment variable DAIRLIB_LOCAL_DRAKE_PATH is set, it will use
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# a local version, ad the specified path. Otherwise, it will get a pegged
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# revision from github.
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# As an example,
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# export DAIRLIB_LOCAL_DRAKE_PATH=/home/user/workspace/drake
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load("@dairlib//tools/workspace/signal_scope:repository.bzl", "signal_scope_repository")
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signal_scope_repository(name = "signal_scope")
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# Choose a revision of Drake to use.
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DRAKE_COMMIT = "f7741cf6d6fe3cc3e7a7554179028d078b0efeed"
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DRAKE_CHECKSUM = "a736b4ed8387ad7d5dbc53c0bb542853d68e449d36444402476daa1bcf2a90ce"
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# Before changing the COMMIT, temporarily uncomment the next line so that Bazel
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# displays the suggested new value for the CHECKSUM.
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# DRAKE_CHECKSUM = "0" * 64
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# Load an environment variable.
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load("//:environ.bzl", "environ_repository")
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environ_repository(name = "environ", vars = ["DAIRLIB_LOCAL_DRAKE_PATH"])
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load("@environ//:environ.bzl", "DAIRLIB_LOCAL_DRAKE_PATH")
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# The WORKSPACE file does not permit `if` statements, so we handle the local
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# option by toying with the repository names. The selected repository is named
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# "@drake", the other is named "@drake_ignored".
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(_http_drake_repo_name, _local_drake_repo_name) = (
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"drake_ignored" if DAIRLIB_LOCAL_DRAKE_PATH else "drake",
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"drake" if DAIRLIB_LOCAL_DRAKE_PATH else "drake_ignored",
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)
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# Maybe download Drake.
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load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
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http_archive(
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name = _http_drake_repo_name,
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urls = [x.format(DRAKE_COMMIT) for x in [
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"https://github.com/RobotLocomotion/drake/archive/{}.tar.gz",
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]],
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sha256 = DRAKE_CHECKSUM,
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strip_prefix = "drake-{}".format(DRAKE_COMMIT),
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)
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# Maybe use a local checkout of Drake.
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print("Using DAIRLIB_LOCAL_DRAKE_PATH={}".format(DAIRLIB_LOCAL_DRAKE_PATH)) if DAIRLIB_LOCAL_DRAKE_PATH else None # noqa
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local_repository(
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name = _local_drake_repo_name,
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path = DAIRLIB_LOCAL_DRAKE_PATH,
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)
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# Reference external software libraries and tools per Drake's defaults. Some
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# software will come from the host system (Ubuntu or macOS); other software
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# will be downloaded in source or binary form from github or other sites.
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load("@drake//tools/workspace:default.bzl", "add_default_repositories")
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add_default_repositories()
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load("@dairlib//tools/workspace/signal_scope:repository.bzl", "signal_scope_repository")
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signal_scope_repository(name = "signal_scope")

‎environ.bzl

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# -*- mode: python -*-
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# vi: set ft=python :
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# Copyright (c) 2018-2019, Toyota Research Institute.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright notice, this
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# list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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#
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# * Neither the name of the copyright holder nor the names of its contributors
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# may be used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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# Write out a repository that contains:
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# - An empty BUILD file, to define a package.
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# - An environ.bzl file with variable assignments for each ENV_NAMES item.
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def _impl(repository_ctx):
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vars = repository_ctx.attr._vars
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bzl_content = []
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for key in vars:
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value = repository_ctx.os.environ.get(key, "")
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bzl_content.append("{}='{}'\n".format(key, value))
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repository_ctx.file(
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"BUILD.bazel",
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content = "\n",
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executable = False,
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)
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repository_ctx.file(
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"environ.bzl",
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content = "".join(bzl_content),
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executable = False,
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)
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def environ_repository(name = None, vars = []):
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"""Provide specific environment variables for use in a WORKSPACE file.
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The `vars` are the environment variables to provide.
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Example:
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environ_repository(name = "foo", vars = ["BAR", "BAZ"])
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load("@foo//:environ.bzl", "BAR", "BAZ")
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print(BAR)
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"""
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rule = repository_rule(
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implementation = _impl,
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attrs = {
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"_vars": attr.string_list(default = vars),
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},
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local = True,
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environ = vars,
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)
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rule(name = name)

‎install/install_prereqs_mac.sh

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#!/bin/bash
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DRAKE_COMMIT=$(grep -oP '(?<=DRAKE_COMMIT = ")(.*)(?=")' $(dirname "$0")/../WORKSPACE)
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echo "Using Drake commit '${DRAKE_COMMIT}'"
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wget --quiet -O drake_binary_brewfile \
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"https://raw.githubusercontent.com/RobotLocomotion/drake/${DRAKE_COMMIT}/setup/mac/binary_distribution/Brewfile"
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wget --quiet -O drake_source_brewfile \
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"https://raw.githubusercontent.com/RobotLocomotion/drake/${DRAKE_COMMIT}/setup/mac/source_distribution/Brewfile"
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# We blacklist kcov-35 because it is only available from the Drake PPA, and we don't want to add that PPA to sources.list.
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sed -i 's#^kcov-35$##g' drake_source_brewfile
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/usr/local/bin/brew bundle --file="drake_binary_brewfile"
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/usr/local/bin/brew bundle --file="drake_source_brewfile"
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rm drake_binary_brewfile
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rm drake_source_brewfile

‎install/install_prereqs_ubuntu.sh

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#!/bin/bash
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DRAKE_COMMIT=$(grep -oP '(?<=DRAKE_COMMIT = ")(.*)(?=")' $(dirname "$0")/../WORKSPACE)
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ubuntu_codename=$(lsb_release -sc)
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echo "Using Drake commit '${DRAKE_COMMIT}'"
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wget --quiet -O drake_binary_packages.txt \
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"https://raw.githubusercontent.com/RobotLocomotion/drake/${DRAKE_COMMIT}/setup/ubuntu/binary_distribution/packages-${ubuntu_codename}.txt"
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wget --quiet -O drake_source_packages.txt \
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"https://raw.githubusercontent.com/RobotLocomotion/drake/${DRAKE_COMMIT}/setup/ubuntu/source_distribution/packages-${ubuntu_codename}.txt"
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# We blacklist kcov-35 because it is only available from the Drake PPA, and we don't want to add that PPA to sources.list.
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sed -i 's#^kcov-35$##g' drake_source_packages.txt
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sudo apt-get -q install --no-install-recommends $(cat drake_binary_packages.txt)
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sudo apt-get -q install --no-install-recommends $(cat drake_source_packages.txt)
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rm drake_binary_packages.txt
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rm drake_source_packages.txt

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