[workspace] Deprecate public use of several externals

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",
     ],
 )