[workspace] Deprecate public use of several externals

Add a suitesparse_internal repository to rebuild (the AMD part of)
SuiteSparse from source with hidden visibility. Remove SuiteSparse
from the host and wheel dependencies.

Deprecate the public (host) suitesparse external.

Rename OSQP, QDLDL, SCS to use the "_internal" suffix and deprecate their
non-internal spellings. (They are all C libraries that already use hidden
visibility, so they don't need any C++ vendoring changes to their BUILD.)

setup/mac/binary_distribution/Brewfile

@@ -24,7 +24,6 @@ brew 'openblas'
 brew 'pkg-config'
 brew '[email protected]'
 brew 'spdlog'
-brew 'suite-sparse'
 brew 'tinyxml'
 brew 'robotlocomotion/director/[email protected]'
 brew 'xz'

setup/ubuntu/binary_distribution/packages-focal.txt

@@ -3,7 +3,6 @@ coinor-libcoinutils3v5
 coinor-libipopt1v5
 default-jre
 jupyter-notebook
-libamd2
 libblas3
 libbz2-1.0
 libdouble-conversion3

setup/ubuntu/binary_distribution/packages-jammy.txt

@@ -3,7 +3,6 @@ coinor-libcoinutils3v5
 coinor-libipopt1v5
 default-jre
 jupyter-notebook
-libamd2
 libblas-dev
 libbz2-1.0
 libdouble-conversion3

setup/ubuntu/source_distribution/packages-focal.txt

@@ -24,7 +24,6 @@ libmumps-seq-dev
 libnlopt-cxx-dev
 libopengl-dev
 libpng-dev
-libsuitesparse-dev
 libtiff-dev
 libtinyxml-dev
 libtool

setup/ubuntu/source_distribution/packages-jammy.txt

@@ -23,7 +23,6 @@ libmumps-seq-dev
 libnlopt-cxx-dev
 libopengl-dev
 libpng-dev
-libsuitesparse-dev
 libtiff-dev
 libtinyxml-dev
 libtool

solvers/BUILD.bazel

@@ -980,7 +980,7 @@ drake_cc_variant_library(
     ],
     deps_enabled = [
         "//math:eigen_sparse_triplet",
-        "@osqp",
+        "@osqp_internal//:osqp",
     ],
 )
 
@@ -1003,7 +1003,7 @@ drake_cc_variant_library(
     deps_enabled = [
         "//common:scope_exit",
         "//math:eigen_sparse_triplet",
-        "@scs//:scsdir",
+        "@scs_internal//:scsdir",
     ],
 )
 

tools/install/check_licenses.bzl

@@ -16,6 +16,7 @@ LICENSE_LITERALS = [
 LICENSE_PREFIXES = [
     "COPYING.",
     "LICENSE.",
+    "License.",
 ]
 
 #------------------------------------------------------------------------------

tools/wheel/image/dependencies/projects.cmake

@@ -76,12 +76,6 @@ set(lapack_url "https://github.com/Reference-LAPACK/lapack/archive/v${lapack_ver
 set(lapack_md5 "d70fc27a8bdebe00481c97c728184f09")
 list(APPEND ALL_PROJECTS lapack)
 
-# suitesparse
-set(suitesparse_version 4.4.5)
-set(suitesparse_url "http://faculty.cse.tamu.edu/davis/SuiteSparse/SuiteSparse-${suitesparse_version}.tar.gz")
-set(SuiteSparse_md5 "a2926c27f8a5285e4a10265cc68bbc18")
-list(APPEND ALL_PROJECTS suitesparse)
-
 # coinutils
 set(coinutils_version 2.11.4)
 set(coinutils_url "https://github.com/coin-or/CoinUtils/archive/refs/tags/releases/${coinutils_version}.tar.gz")

tools/workspace/BUILD.bazel

@@ -100,6 +100,7 @@ _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
     "spdlog",
     "statsjs",
     "stduuid_internal",
+    "suitesparse_internal",
     "tinyobjloader",
     "tinyxml2_internal",
     "usockets",
@@ -132,12 +133,12 @@ _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
     "//conditions:default": [],
 }) + select({
     "//conditions:default": [
-        "@osqp//:install",
-        "@qdldl//:install",
+        "@osqp_internal//:install",
+        "@qdldl_internal//:install",
     ],
     "//tools:no_osqp": [],
 }) + select({
-    "//conditions:default": ["@scs//:install"],
+    "//conditions:default": ["@scs_internal//:install"],
     "//tools:no_scs": [],
 })
 

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
@@ -69,20 +70,20 @@ load("@drake//tools/workspace/opencl:repository.bzl", "opencl_repository")
 load("@drake//tools/workspace/opengl:repository.bzl", "opengl_repository")
 load("@drake//tools/workspace/optitrack_driver:repository.bzl", "optitrack_driver_repository")  # noqa
 load("@drake//tools/workspace/org_apache_xmlgraphics_commons:repository.bzl", "org_apache_xmlgraphics_commons_repository")  # noqa
-load("@drake//tools/workspace/osqp:repository.bzl", "osqp_repository")
+load("@drake//tools/workspace/osqp_internal:repository.bzl", "osqp_internal_repository")  # noqa
 load("@drake//tools/workspace/petsc:repository.bzl", "petsc_repository")
 load("@drake//tools/workspace/picosat:repository.bzl", "picosat_repository")
 load("@drake//tools/workspace/picosha2:repository.bzl", "picosha2_repository")
 load("@drake//tools/workspace/platforms:repository.bzl", "platforms_repository")  # noqa
 load("@drake//tools/workspace/pybind11:repository.bzl", "pybind11_repository")
 load("@drake//tools/workspace/pycodestyle:repository.bzl", "pycodestyle_repository")  # noqa
 load("@drake//tools/workspace/python:repository.bzl", "python_repository")
-load("@drake//tools/workspace/qdldl:repository.bzl", "qdldl_repository")
+load("@drake//tools/workspace/qdldl_internal:repository.bzl", "qdldl_internal_repository")  # noqa
 load("@drake//tools/workspace/qhull_internal:repository.bzl", "qhull_internal_repository")  # noqa
 load("@drake//tools/workspace/ros_xacro_internal:repository.bzl", "ros_xacro_internal_repository")  # noqa
 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/scs_internal:repository.bzl", "scs_internal_repository")  # noqa
 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")
@@ -92,6 +93,7 @@ load("@drake//tools/workspace/stduuid:repository.bzl", "stduuid_repository")
 load("@drake//tools/workspace/stduuid_internal:repository.bzl", "stduuid_internal_repository")  # noqa
 load("@drake//tools/workspace/styleguide:repository.bzl", "styleguide_repository")  # noqa
 load("@drake//tools/workspace/suitesparse:repository.bzl", "suitesparse_repository")  # noqa
+load("@drake//tools/workspace/suitesparse_internal:repository.bzl", "suitesparse_internal_repository")  # noqa
 load("@drake//tools/workspace/tinyobjloader:repository.bzl", "tinyobjloader_repository")  # noqa
 load("@drake//tools/workspace/tinyxml2_internal:repository.bzl", "tinyxml2_internal_repository")  # noqa
 load("@drake//tools/workspace/tomli_internal:repository.bzl", "tomli_internal_repository")  # noqa
@@ -263,7 +265,13 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
     if "org_apache_xmlgraphics_commons" not in excludes:
         org_apache_xmlgraphics_commons_repository(name = "org_apache_xmlgraphics_commons", mirrors = mirrors)  # noqa
     if "osqp" not in excludes:
-        osqp_repository(name = "osqp", mirrors = mirrors)
+        add_deprecation(
+            name = "osqp",
+            date = "2023-05-01",
+            cc_aliases = {"osqp": "@osqp_internal//:osqp"},
+        )
+    if "osqp_internal" not in excludes:
+        osqp_internal_repository(name = "osqp_internal", mirrors = mirrors)
     if "petsc" not in excludes:
         petsc_repository(name = "petsc", mirrors = mirrors)
     if "picosat" not in excludes:
@@ -281,7 +289,13 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
     if "python" not in excludes:
         python_repository(name = "python")
     if "qdldl" not in excludes:
-        qdldl_repository(name = "qdldl", mirrors = mirrors)
+        add_deprecation(
+            name = "qdldl",
+            date = "2023-05-01",
+            cc_aliases = {"qdldl": "@qdldl_internal//:qdldl"},
+        )
+    if "qdldl_internal" not in excludes:
+        qdldl_internal_repository(name = "qdldl_internal", mirrors = mirrors)
     if "qhull_internal" not in excludes:
         qhull_internal_repository(name = "qhull_internal", mirrors = mirrors)
     if "ros_xacro_internal" not in excludes:
@@ -291,7 +305,13 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
     if "rules_python" not in excludes:
         rules_python_repository(name = "rules_python", mirrors = mirrors)
     if "scs" not in excludes:
-        scs_repository(name = "scs", mirrors = mirrors)
+        add_deprecation(
+            name = "scs",
+            date = "2023-05-01",
+            cc_aliases = {"scsdir": "@scs_internal//:scsdir"},
+        )
+    if "scs_internal" not in excludes:
+        scs_internal_repository(name = "scs_internal", mirrors = mirrors)
     if "sdformat_internal" not in excludes:
         sdformat_internal_repository(name = "sdformat_internal", mirrors = mirrors)  # noqa
     if "snopt" not in excludes:
@@ -309,7 +329,10 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
     if "styleguide" not in excludes:
         styleguide_repository(name = "styleguide", mirrors = mirrors)
     if "suitesparse" not in excludes:
+        # N.B. This repository is deprecated for removal on 2023-05-01.
         suitesparse_repository(name = "suitesparse")
+    if "suitesparse_internal" not in excludes:
+        suitesparse_internal_repository(name = "suitesparse_internal", mirrors = mirrors)  # noqa
     if "tinyobjloader" not in excludes:
         tinyobjloader_repository(name = "tinyobjloader", mirrors = mirrors)
     if "tinyxml2_internal" not in excludes:

tools/workspace/osqp/package.BUILD.bazel → tools/workspace/osqp_internal/package.BUILD.bazel

@@ -24,8 +24,9 @@ cmake_configure_file(
         "PRINTING",
         "PROFILING",
         # Keep the default primitive size of `double` and `int`.  Don't define
-        # 'DFLOAT' nor 'DLONG' unless @qdldl and @scs are also changed to use
-        # those primitive sizes.  See drake/tools/workspace/qdldl/README.md.
+        # 'DFLOAT' nor 'DLONG' unless @qdldl_internal and @scs_internal are
+        # also changed to use those primitive sizes.
+        # See drake/tools/workspace/qdldl_internal/README.md.
     ] + select({
         "@drake//tools/cc_toolchain:apple": [
             "IS_MAC",
@@ -99,8 +100,8 @@ cc_library(
     ],
     linkstatic = 1,
     deps = [
-        "@qdldl",
-        "@suitesparse//:amd",
+        "@qdldl_internal//:qdldl",
+        "@suitesparse_internal//:amd",
     ],
 )
 

tools/workspace/osqp/repository.bzl → tools/workspace/osqp_internal/repository.bzl

@@ -2,7 +2,7 @@
 
 load("@drake//tools/workspace:github.bzl", "github_archive")
 
-def osqp_repository(
+def osqp_internal_repository(
         name,
         mirrors = None):
     github_archive(

tools/workspace/qdldl/package.BUILD.bazel → tools/workspace/qdldl_internal/package.BUILD.bazel

@@ -22,12 +22,12 @@ cmake_configure_file(
     # https://github.com/osqp/qdldl/blob/v0.1.6/README.md#custom-types-for-integer-floats-and-booleans
     defines = [
         "QDLDL_BOOL_TYPE=unsigned char",
-        # Keep the `int` type sync'd with the @osqp and @scs build.
-        # See drake/tools/workspace/qdldl/README.md.
+        # Keep the `int` type sync'd with the build of @osqp_internal and
+        # @scs_internal. See drake/tools/workspace/qdldl_internal/README.md.
         "QDLDL_INT_TYPE=int",
         "QDLDL_LONG=0",
-        # Keep the `double` type sync'd with the @osqp and @scs build.
-        # See drake/tools/workspace/qdldl/README.md.
+        # Keep the `int` type sync'd with the build of @osqp_internal and
+        # @scs_internal. See drake/tools/workspace/qdldl_internal/README.md.
         "QDLDL_FLOAT_TYPE=double",
         "QDLDL_FLOAT=0",
         # Match this to QDLDL_INT_TYPE above.

tools/workspace/qdldl/repository.bzl → tools/workspace/qdldl_internal/repository.bzl

@@ -2,7 +2,7 @@
 
 load("@drake//tools/workspace:github.bzl", "github_archive")
 
-def qdldl_repository(
+def qdldl_internal_repository(
         name,
         mirrors = None):
     github_archive(

tools/workspace/scs/package.BUILD.bazel → tools/workspace/scs_internal/package.BUILD.bazel

@@ -30,8 +30,8 @@ cc_library(
     defines = [
         "USE_LAPACK=1",
         # Keep the default primitive size of `double` and `int`.  Don't define
-        # 'SFLOAT' nor 'DLONG' unless @qdldl and @osqp are also changed to use
-        # those primitive sizes.
+        # 'SFLOAT' nor 'DLONG' unless @qdldl_internal and @osqp_internal are
+        # also changed to use those primitive sizes.
     ],
     includes = [
         "include",
@@ -51,8 +51,8 @@ cc_library(
     deps = [
         "@blas",
         "@lapack",
-        "@qdldl",
-        "@suitesparse//:amd",
+        "@qdldl_internal//:qdldl",
+        "@suitesparse_internal//:amd",
     ],
 )