diff --git a/attic/multibody/BUILD.bazel b/attic/multibody/BUILD.bazel index 530c89461049..615e51713e19 100644 --- a/attic/multibody/BUILD.bazel +++ b/attic/multibody/BUILD.bazel @@ -614,7 +614,7 @@ drake_cc_googletest( ], ) -drake_cc_googletest( +drake_cc_test( name = "test_kinematics_cache_checks", data = ["//examples/atlas:models"], deps = [ diff --git a/common/BUILD.bazel b/common/BUILD.bazel index 55f255afb391..9bbdab89b76f 100644 --- a/common/BUILD.bazel +++ b/common/BUILD.bazel @@ -6,6 +6,7 @@ load( "drake_cc_googletest", "drake_cc_library", "drake_cc_package_library", + "drake_cc_test", ) load( "@drake//tools/skylark:drake_py.bzl", @@ -736,7 +737,7 @@ drake_cc_googletest( ) # Functional test of DRAKE_ASSERT at compile time. -drake_cc_googletest( +drake_cc_test( name = "drake_assert_test_compile", deps = [ ":essential", diff --git a/third_party/com_github_bazelbuild_rules_cc/LICENSE b/third_party/com_github_bazelbuild_rules_cc/LICENSE new file mode 100644 index 000000000000..7a4a3ea2424c --- /dev/null +++ b/third_party/com_github_bazelbuild_rules_cc/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. \ No newline at end of file diff --git a/third_party/com_github_bazelbuild_rules_cc/whole_archive.bzl b/third_party/com_github_bazelbuild_rules_cc/whole_archive.bzl new file mode 100644 index 000000000000..99eda99718b0 --- /dev/null +++ b/third_party/com_github_bazelbuild_rules_cc/whole_archive.bzl @@ -0,0 +1,158 @@ +# -*- python -*- + +# Copyright 2019 The Bazel Authors. All rights reserved. +# Copyright 2019 Toyota Research Institute. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# This function is forked and modified from bazelbuild/rules_cc as of: +# https://github.com/bazelbuild/rules_cc/blob/262ebec3c2296296526740db4aefce68c80de7fa/cc/find_cc_toolchain.bzl +def find_cc_toolchain(ctx): + # Check the incompatible flag for toolchain resolution. + if hasattr(cc_common, "is_cc_toolchain_resolution_enabled_do_not_use") and cc_common.is_cc_toolchain_resolution_enabled_do_not_use(ctx = ctx): # noqa + if "//cc:toolchain_type" in ctx.toolchains: + return ctx.toolchains["//cc:toolchain_type"] + fail("In order to use find_cc_toolchain, your rule has to depend on C++ toolchain. See find_cc_toolchain.bzl docs for details.") # noqa + + # Fall back to the legacy implicit attribute lookup. + if hasattr(ctx.attr, "_cc_toolchain"): + return ctx.attr._cc_toolchain[cc_common.CcToolchainInfo] + + # We didn't find anything. + fail("In order to use find_cc_toolchain, your rule has to depend on C++ toolchain. See find_cc_toolchain.bzl docs for details.") # noqa + +# This variable is forked from bazelbuild/rules_cc as of: +# https://github.com/bazelbuild/rules_cc/blob/262ebec3c2296296526740db4aefce68c80de7fa/cc/action_names.bzl +CPP_LINK_STATIC_LIBRARY_ACTION_NAME = "c++-link-static-library" + +# This function is forked and modified from bazelbuild/rules_cc as of: +# https://github.com/bazelbuild/rules_cc/blob/262ebec3c2296296526740db4aefce68c80de7fa/examples/my_c_archive/my_c_archive.bzl +def _cc_whole_archive_library_impl(ctx): + # Declare the whole-archive file (*.a) that we will output. + output_file = ctx.actions.declare_file(ctx.label.name) + deps_cc_infos = cc_common.merge_cc_infos( + cc_infos = [dep[CcInfo] for dep in ctx.attr.deps], + ) + + # Set up some C++ toolchain boilerplate for how to invoke $(AR). + cc_toolchain = find_cc_toolchain(ctx) + feature_configuration = cc_common.configure_features( + ctx = ctx, + cc_toolchain = cc_toolchain, + requested_features = ctx.features, + unsupported_features = ctx.disabled_features, + ) + archiver_path = cc_common.get_tool_for_action( + feature_configuration = feature_configuration, + action_name = CPP_LINK_STATIC_LIBRARY_ACTION_NAME, + ) + archiver_variables = cc_common.create_link_variables( + feature_configuration = feature_configuration, + cc_toolchain = cc_toolchain, + output_file = output_file.path, + is_using_linker = False, + ) + command_line = cc_common.get_memory_inefficient_command_line( + feature_configuration = feature_configuration, + action_name = CPP_LINK_STATIC_LIBRARY_ACTION_NAME, + variables = archiver_variables, + ) + args = ctx.actions.args() + args.add_all(command_line) + + # Iterate over the transitive list of libraries we want to link as a whole + # archive. If the library offers pic object files directly, then add those + # objects to the $(AR) command line and skip the associated *.pic.a that + # offers the same objects in archive format. If there are no pic objects + # but there is an archive (e.g., from a cc_library(srcs = ["libfoo.a"])), + # then propogate that archive to downstream links. + all_ars = [output_file] + all_objs = [] + for lib in deps_cc_infos.linking_context.libraries_to_link.to_list(): + # Most libraries will have pic objects that we can link directly. + # The only exception is for targets that output an archive library + # directly, like our fortran rules as related to SNOPT. + if lib.pic_objects: + for obj in lib.pic_objects: + args.add(obj) + all_objs.append(obj) + elif lib.pic_static_library: + all_ars.append(lib.pic_static_library) + + # Run $(AR). + env = cc_common.get_environment_variables( + feature_configuration = feature_configuration, + action_name = CPP_LINK_STATIC_LIBRARY_ACTION_NAME, + variables = archiver_variables, + ) + ctx.actions.run( + executable = archiver_path, + arguments = [args], + env = env, + inputs = depset( + direct = all_objs, + transitive = [ + cc_toolchain.all_files, + ], + ), + outputs = [output_file], + ) + + # Return the CcInfo to pass along to code that wants to link us. + libraries_to_link = [] + for ar in all_ars: + library_to_link = cc_common.create_library_to_link( + actions = ctx.actions, + feature_configuration = feature_configuration, + cc_toolchain = cc_toolchain, + pic_static_library = ar, + # This is where the magic happens! + alwayslink = True, + ) + libraries_to_link.append(library_to_link) + linking_context = cc_common.create_linking_context( + libraries_to_link = libraries_to_link, + user_link_flags = deps_cc_infos.linking_context.user_link_flags, + additional_inputs = deps_cc_infos.linking_context.additional_inputs.to_list(), # noqa + ) + return [ + DefaultInfo( + runfiles = ctx.runfiles( + collect_data = True, + collect_default = True, + ), + ), + CcInfo( + compilation_context = deps_cc_infos.compilation_context, + linking_context = linking_context, + ), + ] + +# Forked and modified from bazelbuild/rules_cc as of: +# https://github.com/bazelbuild/rules_cc/blob/262ebec3c2296296526740db4aefce68c80de7fa/examples/my_c_archive/my_c_archive.bzl +cc_whole_archive_library = rule( + implementation = _cc_whole_archive_library_impl, + attrs = { + "deps": attr.label_list(providers = [CcInfo]), + "_cc_toolchain": attr.label( + default = Label("@bazel_tools//tools/cpp:current_cc_toolchain"), + ), + }, + fragments = ["cpp"], + toolchains = ["@bazel_tools//tools/cpp:toolchain_type"], +) +"""Creates an cc_library archive *.a with alwayslink = 1 for all of its deps +to work around https://github.com/bazelbuild/bazel/issues/7362 not providing +any useful way to create shared libraries from multiple cc_library targets +unless you want even statically-linked programs to keep all of their symbols. +""" diff --git a/tools/bazel.rc b/tools/bazel.rc index b3925d38beaf..1265c485979b 100644 --- a/tools/bazel.rc +++ b/tools/bazel.rc @@ -7,10 +7,6 @@ import %workspace%/tools/lint/bazel.rc # than a toolchain in Bazel 0.27 and above until #11660 is resolved. build --incompatible_use_python_toolchains=false -# Continue to use --whole-archive for cc_binary rules that have linkshared = 1 -# and either linkstatic = 1 or -static in linkopts in Bazel 1.0 and above. -build --incompatible_remove_legacy_whole_archive=false - # Default to an optimized build. build -c opt diff --git a/tools/install/libdrake/BUILD.bazel b/tools/install/libdrake/BUILD.bazel index 569b764bc58e..0b8d86a15094 100644 --- a/tools/install/libdrake/BUILD.bazel +++ b/tools/install/libdrake/BUILD.bazel @@ -16,7 +16,10 @@ load( ) load("//tools/lint:lint.bzl", "add_lint_tests") load(":build_components.bzl", "LIBDRAKE_COMPONENTS") -load("@drake//tools/skylark:drake_cc.bzl", "drake_cc_binary") +load( + "//third_party:com_github_bazelbuild_rules_cc/whole_archive.bzl", + "cc_whole_archive_library", +) # TODO(eric.cousineau): Try to make the CMake target `drake-marker` private, # such that no downstream users can use it? @@ -30,15 +33,27 @@ install_cmake_config( versioned = 0, ) -# The Drake binary package. libdrake.so contains all the symbols from all the -# LIBDRAKE_COMPONENTS and all the Drake externals. We use linkstatic=1 so -# that the binary package will not contain any references to shared libraries +# Link all of the object code for LIBDRAKE_COMPONENTS into a single static +# archive, so that we can express to Bazel the set of objects to pass to the +# linker for our shared library so all objects are retained (i.e., so that we +# can use the --whole-archive linker flag). +cc_whole_archive_library( + name = "libdrake.a", + deps = LIBDRAKE_COMPONENTS, +) + +# The Drake binary package libdrake.so contains all the symbols from all the +# LIBDRAKE_COMPONENTS and all the Drake externals. We use linkstatic=1 so that +# the library will not contain any references to constituent shared libraries # inside the build tree. -drake_cc_binary( +cc_binary( name = "libdrake.so", linkshared = 1, linkstatic = 1, - deps = LIBDRAKE_COMPONENTS, + deps = [ + ":libdrake.a", + ":libdrake_runtime_so_deps", + ], ) # Gather all of libdrake.so's dependent headers, excluding headers that are @@ -199,12 +214,20 @@ cc_library( strip_include_prefix = "/", visibility = ["//:__pkg__"], deps = [ + ":libdrake_header_only_deps", ":libdrake_headers_only_attic_cc_library", - # The list of depended-on *.so files. These should ONLY be shared - # libraries; do not add static dependencies here. + ":libdrake_runtime_so_deps", + ], +) + +# The list of depended-on *.so files. These should ONLY be shared libraries; do +# not add static dependencies here. +cc_library( + name = "libdrake_runtime_so_deps", + deps = [ ":dreal_deps", - ":ipopt_deps", ":gurobi_deps", + ":ipopt_deps", ":mosek_deps", ":nlopt_deps", ":scs_deps", @@ -215,14 +238,19 @@ cc_library( "@libprotobuf", "@tinyxml2", "@yaml_cpp", - ] + [ - # The list of depended-on header-only libraries that libdrake's header - # files depend on. + ], +) + +# The list of depended-on header-only libraries that libdrake's header files +# depend on. +cc_library( + name = "libdrake_header_only_deps", + deps = [ "//lcmtypes:lcmtypes_drake_cc", "@eigen", "@fmt", - "@lcmtypes_bot2_core//:lcmtypes_bot2_core", - "@lcmtypes_robotlocomotion//:lcmtypes_robotlocomotion", + "@lcmtypes_bot2_core", + "@lcmtypes_robotlocomotion", "@optitrack_driver//lcmtypes:optitrack_lcmtypes", "@spdlog", ], diff --git a/tools/skylark/pybind.bzl b/tools/skylark/pybind.bzl index e30da33df85b..b62376cd552a 100644 --- a/tools/skylark/pybind.bzl +++ b/tools/skylark/pybind.bzl @@ -264,6 +264,7 @@ def drake_pybind_cc_googletest( "@pybind11", "@python//:python_direct_link", ], + use_default_main = False, # Add 'manual', because we only want to run it with Python present. tags = ["manual"] + tags, visibility = visibility,