Merge pull request #7323 from osrf/use-libprotobuf

Use the system protobuf.

WORKSPACE

@@ -18,6 +18,7 @@ workspace(name = "drake")
 
 load("//tools/workspace:bitbucket.bzl", "bitbucket_archive")
 load("//tools/workspace:github.bzl", "github_archive")
+load("//tools/workspace:which.bzl", "which")
 load("@bazel_tools//tools/build_defs/repo:git.bzl", "git_repository")
 
 local_repository(
@@ -52,6 +53,24 @@ new_local_repository(
  path = __workspace_dir__ + "/third_party/com_github_tcbrindle_cpp17_headers", # noqa
 )
 
+# This local repository imports the protobuf build rules for Bazel (based on
+# the upstream protobuf.bzl build rules). The protobuf runtime is loaded
+# into "libprotobuf" via pkg-config below.
+local_repository(
+ name = "com_google_protobuf",
+ # TODO(clalancette) Per https://github.com/RobotLocomotion/drake/pull/7361
+ # this should use an absolute path (so this should be prepended by
+ # __workspace_dir__). However, in a clean build, this did not work. We
+ # should investigate that and fix it.
+ path = "third_party/com_github_google_protobuf",
+)
+
+new_local_repository(
+ name = "find_protobuf_cmake",
+ build_file = "tools/workspace/protobuf/find_protobuf_cmake.BUILD.bazel",
+ path = __workspace_dir__ + "/third_party/com_kitware_gitlab_cmake_cmake",
+)
+
 load("@kythe//tools/build_rules/config:pkg_config.bzl", "pkg_config_package")
 
 pkg_config_package(
@@ -64,6 +83,19 @@ pkg_config_package(
  modname = "gthread-2.0",
 )
 
+# Load in the paths and flags to the system version of the protobuf runtime;
+# the Bazel build rules are loaded into "protobuf" via local_repository above.
+pkg_config_package(
+ name = "libprotobuf",
+ modname = "protobuf",
+)
+
+# Find the protoc binary on $PATH.
+which(
+ name = "protoc",
+ command = "protoc",
+)
+
 load("//tools/workspace/python:python.bzl", "python_repository")
 
 python_repository(
@@ -335,15 +367,6 @@ bind(
  actual = "@six_archive//:six",
 )
 
-# When updating the version of protobuf,
-# update tools/install/protobuf/protobuf.cps
-github_archive(
- name = "com_google_protobuf",
- repository = "google/protobuf",
- commit = "v3.5.0",
- sha256 = "0cc6607e2daa675101e9b7398a436f09167dffb8ca0489b0307ff7260498c13c", # noqa
-)
-
 pypi_archive(
  name = "semantic_version",
  version = "2.6.0",
@@ -355,8 +378,8 @@ pypi_archive(
 github_archive(
  name = "pycps",
  repository = "mwoehlke/pycps",
- commit = "a6110cf2e769e9ff262a98ed18506ad565a14e89",
- sha256 = "62b5054705152ba971a6e9a358bfcc1359eca6f3ba8e5788befd82d606933d98", # noqa
+ commit = "544c1ded81b926a05b3dedb06504bd17bc8d0a95",
+ sha256 = "0b97cbaae107e5ddbe89073b6e42b679130f1eb81b913aa93da9e72e032a137b", # noqa
  build_file = "tools/workspace/pycps/pycps.BUILD.bazel",
 )
 

bindings/pydrake/BUILD.bazel

@@ -182,6 +182,8 @@ drake_py_test(
 drake_py_test(
  name = "common_install_test",
  size = "medium",
+ # Increase the timeout so that debug builds are successful.
+ timeout = "long",
  srcs = ["test/common_install_test.py"],
  data = ["//:install"],
  main = "test/common_install_test.py",

matlab/CMakeLists.txt

@@ -18,6 +18,23 @@ include(cmake/packages.cmake)
 
 configure_file(addpath_drake.m.in addpath_drake.m @ONLY)
 
+if(UNIX AND NOT APPLE)
+ # On Linux, force targets to use system Protobuf shared library instead of
+ # the shared library bundled with MATLAB. On macOS, the two shared libraries
+ # are correctly marked as ABI incompatible.
+
+ get_filename_component(MEX_LIBRARY_DIR "${Matlab_MEX_LIBRARY}" DIRECTORY)
+ get_filename_component(PROTOBUF_LIBRARY_DIR
+ "${Protobuf_LIBRARY_RELEASE}" DIRECTORY
+ )
+
+ set(CMAKE_INSTALL_RPATH
+ "$ORIGIN:$ORIGIN/../../../lib:${PROTOBUF_LIBRARY_DIR}:${MEX_LIBRARY_DIR}"
+ )
+
+ set(CMAKE_CXX_FLAGS "-Wl,-rpath,${PROTOBUF_LIBRARY_DIR} ${CMAKE_CXX_FLAGS}")
+endif()
+
 drake_matlab_add_mex(mex_util mex_util.cc mex_util.h)
 target_link_libraries(mex_util drake::drake Eigen3::Eigen)
 

matlab/cmake/packages.cmake

@@ -3,8 +3,7 @@ set(CMAKE_FIND_PACKAGE_NO_SYSTEM_PACKAGE_REGISTRY ON)
 
 if(APPLE)
  set(MINIMUM_MATLAB_VERSION 9.2)
- # TODO(jamiesnape): Change from 3.1 to 3.5 when #7323 merges.
- set(MINIMUM_PROTOBUF_VERSION 3.1)
+ set(MINIMUM_PROTOBUF_VERSION 3.5)
 else()
  # TODO(jamiesnape): Change from 9 to 9.2 when support for R2016a and R2016 is
  # no longer needed.

setup/ubuntu/16.04/install_prereqs.sh

@@ -99,6 +99,7 @@ lldb-4.0
 make
 mesa-common-dev
 openjdk-8-jdk
+patchelf
 patchutils
 pkg-config
 protobuf-compiler

third_party/com_github_google_protobuf/BUILD.bazel

@@ -0,0 +1,28 @@
+# -*- python -*-
+
+package(
+ default_visibility = ["//visibility:public"],
+)
+
+exports_files(["protobuf.bzl"])
+
+# The protobuf.bzl looks here to find which protoc to use.
+# Drake uses the protoc found on $PATH (typically from the host OS).
+filegroup(
+ name = "protoc",
+ srcs = ["@protoc"],
+)
+
+# The protobuf.bzl looks here to find which runtime to use.
+# Drake uses the libprotobuf found by pkg-config (typically from the host OS).
+alias(
+ name = "protobuf",
+ actual = "@libprotobuf",
+)
+
+# The protobuf.bzl looks here to find which python runtime to use.
+# Drake uses the library already on $PYTHONPATH (typically from the host OS).
+py_library(
+ name = "protobuf_python",
+ # No srcs here, so we'll use the system default.
+)

third_party/com_github_google_protobuf/LICENSE

@@ -0,0 +1,42 @@
+This license applies to all parts of Protocol Buffers except the following:
+
+ - Atomicops support for generic gcc, located in
+ src/google/protobuf/stubs/atomicops_internals_generic_gcc.h.
+ This file is copyrighted by Red Hat Inc.
+
+ - Atomicops support for AIX/POWER, located in
+ src/google/protobuf/stubs/atomicops_internals_power.h.
+ This file is copyrighted by Bloomberg Finance LP.
+
+Copyright 2014, Google Inc. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+ * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+ * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Code generated by the Protocol Buffer compiler is owned by the owner
+of the input file used when generating it. This code is not
+standalone and requires a support library to be linked with it. This
+support library is itself covered by the above license.

third_party/com_github_google_protobuf/README.md

@@ -0,0 +1,10 @@
+This directory holds vendored and modified copies of Bazel support code from
+https://github.com/google/protobuf, originally downloaded from commit
+4fc93044a5de018527ec027dbee6a882012e0d9d. The following lists which files are
+copyrighted by whom:
+
+BUILD.bazel - Drake project
+LICENSE - Google, protobuf project
+protobuf.bzl - Google, protobuf project
+README.md - Drake project
+WORKSPACE - Drake project

third_party/com_github_google_protobuf/WORKSPACE

@@ -0,0 +1,6 @@
+# -*- python -*-
+
+# This file marks a workspace root for the Bazel build system. see
+# http://bazel.io/ .
+
+workspace(name = "com_google_protobuf")