cpp_const: Add ability to impose C++ const semantics in Python.

bindings/pydrake/BUILD.bazel

@@ -15,7 +15,7 @@ load(
 load(
     "//tools/skylark:pybind.bzl",
     "drake_pybind_library",
-    "get_drake_pybind_installs",
+    "get_drake_py_installs",
     "get_pybind_package_info",
 )
 load(
@@ -126,7 +126,7 @@ alias(
     actual = "//bindings/pydrake/util",
 )
 
-PYBIND_LIBRARIES = adjust_labels_for_drake_hoist([
+PY_LIBRARIES_WITH_INSTALL = adjust_labels_for_drake_hoist([
     ":autodiffutils_py",
     ":common_py",
     ":parsers_py",
@@ -136,6 +136,7 @@ PYBIND_LIBRARIES = adjust_labels_for_drake_hoist([
     "//drake/bindings/pydrake/multibody",
     "//drake/bindings/pydrake/solvers",
     "//drake/bindings/pydrake/systems",
+    "//drake/bindings/pydrake/third_party",
     "//drake/bindings/pydrake/util",
 ])
 
@@ -146,13 +147,13 @@ install(
     targets = PY_LIBRARIES,
     py_dest = PACKAGE_INFO.py_dest,
     visibility = ["//visibility:public"],
-    deps = get_drake_pybind_installs(PYBIND_LIBRARIES),
+    deps = get_drake_py_installs(PY_LIBRARIES_WITH_INSTALL),
 )
 
 drake_py_library(
     name = "pydrake",
     visibility = ["//visibility:public"],
-    deps = PYBIND_LIBRARIES + PY_LIBRARIES,
+    deps = PY_LIBRARIES_WITH_INSTALL + PY_LIBRARIES,
 )
 
 # Test ODR (One Definition Rule).

bindings/pydrake/examples/BUILD.bazel

@@ -5,7 +5,7 @@ load("//tools/lint:lint.bzl", "add_lint_tests")
 load(
     "//tools/skylark:pybind.bzl",
     "drake_pybind_library",
-    "get_drake_pybind_installs",
+    "get_drake_py_installs",
     "get_pybind_package_info",
 )
 load(
@@ -56,7 +56,7 @@ drake_pybind_library(
     ],
 )
 
-PYBIND_LIBRARIES = [
+PY_LIBRARIES_WITH_INSTALL = [
     ":pendulum_py",
 ]
 
@@ -67,14 +67,14 @@ PY_LIBRARIES = [
 drake_py_library(
     name = "examples",
     imports = PACKAGE_INFO.py_imports,
-    deps = PYBIND_LIBRARIES + PY_LIBRARIES,
+    deps = PY_LIBRARIES_WITH_INSTALL + PY_LIBRARIES,
 )
 
 install(
     name = "install",
     targets = PY_LIBRARIES,
     py_dest = PACKAGE_INFO.py_dest,
-    deps = get_drake_pybind_installs(PYBIND_LIBRARIES),
+    deps = get_drake_py_installs(PY_LIBRARIES_WITH_INSTALL),
 )
 
 drake_py_test(

bindings/pydrake/multibody/BUILD.bazel

@@ -5,7 +5,7 @@ load("//tools/lint:lint.bzl", "add_lint_tests")
 load(
     "//tools/skylark:pybind.bzl",
     "drake_pybind_library",
-    "get_drake_pybind_installs",
+    "get_drake_py_installs",
     "get_pybind_package_info",
 )
 load(
@@ -56,7 +56,7 @@ drake_py_library(
     ],
 )
 
-PYBIND_LIBRARIES = [
+PY_LIBRARIES_WITH_INSTALL = [
     ":rigid_body_plant_py",
 ]
 
@@ -68,14 +68,14 @@ PY_LIBRARIES = [
 drake_py_library(
     name = "multibody",
     imports = PACKAGE_INFO.py_imports,
-    deps = PYBIND_LIBRARIES + PY_LIBRARIES,
+    deps = PY_LIBRARIES_WITH_INSTALL + PY_LIBRARIES,
 )
 
 install(
     name = "install",
     targets = PY_LIBRARIES,
     py_dest = PACKAGE_INFO.py_dest,
-    deps = get_drake_pybind_installs(PYBIND_LIBRARIES),
+    deps = get_drake_py_installs(PY_LIBRARIES_WITH_INSTALL),
 )
 
 drake_py_test(

bindings/pydrake/solvers/BUILD.bazel

@@ -6,7 +6,7 @@ load("//tools/skylark:test_tags.bzl", "gurobi_test_tags", "mosek_test_tags")
 load(
     "//tools/skylark:pybind.bzl",
     "drake_pybind_library",
-    "get_drake_pybind_installs",
+    "get_drake_py_installs",
     "get_pybind_package_info",
 )
 load(
@@ -89,7 +89,7 @@ drake_pybind_library(
     py_deps = [":mathematicalprogram_py"],
 )
 
-PYBIND_LIBRARIES = [
+PY_LIBRARIES_WITH_INSTALL = [
     ":gurobi_py",
     ":ik_py",
     ":ipopt_py",
@@ -103,14 +103,14 @@ PY_LIBRARIES = [
 
 drake_py_library(
     name = "solvers",
-    deps = PYBIND_LIBRARIES + PY_LIBRARIES,
+    deps = PY_LIBRARIES_WITH_INSTALL + PY_LIBRARIES,
 )
 
 install(
     name = "install",
     targets = PY_LIBRARIES,
     py_dest = PACKAGE_INFO.py_dest,
-    deps = get_drake_pybind_installs(PYBIND_LIBRARIES),
+    deps = get_drake_py_installs(PY_LIBRARIES_WITH_INSTALL),
 )
 
 drake_py_test(

bindings/pydrake/systems/BUILD.bazel

@@ -5,7 +5,7 @@ load("//tools/lint:lint.bzl", "add_lint_tests")
 load(
     "//tools/skylark:pybind.bzl",
     "drake_pybind_library",
-    "get_drake_pybind_installs",
+    "get_drake_py_installs",
     "get_pybind_package_info",
 )
 load(
@@ -111,7 +111,7 @@ drake_py_library(
     ],
 )
 
-PYBIND_LIBRARIES = [
+PY_LIBRARIES_WITH_INSTALL = [
     ":analysis_py",
     ":framework_py",
     ":primitives_py",
@@ -127,14 +127,14 @@ PY_LIBRARIES = [
 drake_py_library(
     name = "systems",
     imports = PACKAGE_INFO.py_imports,
-    deps = PYBIND_LIBRARIES + PY_LIBRARIES,
+    deps = PY_LIBRARIES_WITH_INSTALL + PY_LIBRARIES,
 )
 
 install(
     name = "install",
     targets = PY_LIBRARIES,
     py_dest = PACKAGE_INFO.py_dest,
-    deps = get_drake_pybind_installs(PYBIND_LIBRARIES),
+    deps = get_drake_py_installs(PY_LIBRARIES_WITH_INSTALL),
 )
 
 drake_py_test(

bindings/pydrake/third_party/BUILD.bazel

@@ -0,0 +1,76 @@
+load("@drake//tools/install:install.bzl", "install")
+load("//tools/lint:lint.bzl", "add_lint_tests")
+load(
+    "//tools/skylark:drake_py.bzl",
+    "drake_py_library",
+)
+load(
+    "//tools/skylark:pybind.bzl",
+    "get_pybind_package_info",
+)
+load(":forward_files.bzl", "forward_files")
+
+package(default_visibility = [
+    "//bindings/pydrake:__subpackages__",
+])
+
+# This determines how `PYTHONPATH` is configured, and how to install the
+# bindings.
+PACKAGE_INFO = get_pybind_package_info(
+    base_package = "//bindings",
+)
+
+drake_py_library(
+    name = "module_py",
+    srcs = ["__init__.py"],
+    imports = PACKAGE_INFO.py_imports,
+)
+
+# Forward physical files to simplify working with `third_party` files (both
+# for Python imports and for installation).
+wrapt_prefix = "//third_party:com_github_grahamdumpleton_wrapt/"
+
+forward_files(
+    srcs = [wrapt_prefix + f for f in [
+        "__init__.py",
+        "LICENSE",
+        "wrappers.py",
+    ]],
+    dest_prefix = "wrapt/",
+    strip_prefix = wrapt_prefix,
+    tags = ["nolint"],
+    visibility = ["//visibility:private"],
+)
+
+# TODO(eric.cousineau): Use Ubuntu packages once we have a later version of
+# `python-wrapt` that does not have bugs like a mis-mapped `__mod__` proxy.
+drake_py_library(
+    name = "wrapt_py",
+    srcs = [
+        "wrapt/__init__.py",
+        "wrapt/wrappers.py",
+    ],
+    imports = PACKAGE_INFO.py_imports,
+    tags = ["nolint"],
+)
+
+PY_LIBRARIES = [
+    ":module_py",
+    ":wrapt_py",
+]
+
+drake_py_library(
+    name = "third_party",
+    visibility = ["//visibility:public"],
+    deps = PY_LIBRARIES,
+)
+
+install(
+    name = "install",
+    targets = PY_LIBRARIES,
+    py_dest = PACKAGE_INFO.py_dest,
+    docs = ["wrapt/LICENSE"],
+    doc_dest = "share/doc",
+)
+
+add_lint_tests()

bindings/pydrake/third_party/__init__.py

@@ -0,0 +1 @@
+# Empty Python module.

bindings/pydrake/third_party/forward_files.bzl

@@ -0,0 +1,38 @@
+# -*- python -*-
+
+def forward_files(
+        srcs = [],
+        strip_prefix = None,
+        dest_prefix = None,
+        visibility = None,
+        tags = []):
+    """Forwards files in `srcs` to be physically present in the current
+    packages.
+
+    Present implementation simply copies the files.
+
+    @param srcs
+        List of string, pointing *directly* to files as absolute Bazel target
+        paths. This does NOT resolve relative targets, nor does it unpack
+        filegroup targets `$(locations ...)`.
+    @param strip_prefix
+        String to be stripped from source files. Should include trailing slash.
+    @param dest_prefix
+        String to be prepended to target.
+    """
+    if strip_prefix == None or dest_prefix == None:
+        fail("Must supply `strip_prefix` and `dest_prefix`.")
+    outs = []
+    for src in srcs:
+        if not src.startswith(strip_prefix):
+            fail("'{}' not under '{}'".format(src, strip_prefix))
+        out = dest_prefix + src[len(strip_prefix):]
+        native.genrule(
+            name = out + ".forward",
+            srcs = [src],
+            outs = [out],
+            cmd = "cp $< $@",
+            tags = tags,
+            visibility = visibility,
+        )
+        outs.append(out)

bindings/pydrake/util/BUILD.bazel

@@ -10,7 +10,7 @@ load(
 load(
     "//tools/skylark:pybind.bzl",
     "drake_pybind_cc_googletest",
-    "get_drake_pybind_installs",
+    "get_drake_py_installs",
     "get_pybind_package_info",
 )
 load(
@@ -98,14 +98,24 @@ drake_cc_library(
     ],
 )
 
+drake_py_library(
+    name = "cpp_const_py",
+    srcs = ["cpp_const.py"],
+    deps = [
+        ":module_py",
+        "//bindings/pydrake/third_party:wrapt_py",
+    ],
+)
+
 drake_cc_library(
     name = "drake_optional_pybind",
     hdrs = ["drake_optional_pybind.h"],
 )
 
-PYBIND_LIBRARIES = []
+PY_LIBRARIES_WITH_INSTALL = []
 
 PY_LIBRARIES = [
+    ":cpp_const_py",
     ":cpp_param_py",
     ":cpp_template_py",
     ":module_py",
@@ -116,14 +126,14 @@ PY_LIBRARIES = [
 drake_py_library(
     name = "util",
     imports = PACKAGE_INFO.py_imports,
-    deps = PYBIND_LIBRARIES + PY_LIBRARIES,
+    deps = PY_LIBRARIES_WITH_INSTALL + PY_LIBRARIES,
 )
 
 install(
     name = "install",
     targets = PY_LIBRARIES,
     py_dest = PACKAGE_INFO.py_dest,
-    deps = get_drake_pybind_installs(PYBIND_LIBRARIES),
+    deps = get_drake_py_installs(PY_LIBRARIES_WITH_INSTALL),
 )
 
 drake_cc_googletest(
@@ -160,6 +170,13 @@ drake_py_test(
     ],
 )
 
+drake_py_test(
+    name = "cpp_const_test",
+    deps = [
+        ":cpp_const_py",
+    ],
+)
+
 drake_py_test(
     name = "cpp_param_test",
     deps = [