[drake_cmake_external] Add test case to disable solver

drake_cmake_external/CMakeLists.txt

@@ -28,7 +28,7 @@ include(ExternalProject)
 
 # This shows how to fetch Eigen from source as part of Drake's CMake build.
 # If you'd rather just use your operating system's Eigen, then this stanza could
-# be removed (as well as removing -DWITH_USER_EIGEN:BOOLEAN=ON, below).
+# be removed (as well as removing -DWITH_USER_EIGEN:BOOL=ON, below).
 ExternalProject_Add(eigen
   URL https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz
   URL_HASH SHA256=8586084f71f9bde545ee7fa6d00288b264a2b7ac3607b974e54d13e7162c1c72
@@ -45,7 +45,7 @@ ExternalProject_Add(eigen
 
 # This shows how to rebuild fmt from source as part of Drake's CMake build.
 # If you'd rather just use your operating system's fmt, then this stanza could
-# be removed (as well as removing -DWITH_USER_FMT:BOOLEAN=ON, below).
+# be removed (as well as removing -DWITH_USER_FMT:BOOL=ON, below).
 # If you rebuild fmt from source, then you must also rebuild spdlog from source.
 ExternalProject_Add(fmt
   URL https://github.com/fmtlib/fmt/archive/refs/tags/6.1.2.tar.gz
@@ -67,7 +67,7 @@ ExternalProject_Add(fmt
 
 # This shows how to rebuild spdlog from source as part of Drake's CMake build.
 # If you'd rather just use your operating system's fmt, then this stanza could
-# be removed (as well as removing -DWITH_USER_SPDLOG:BOOLEAN=ON, below).
+# be removed (as well as removing -DWITH_USER_SPDLOG:BOOL=ON, below).
 # If you rebuild spdlog from source, then you must also rebuild fmt from source.
 ExternalProject_Add(spdlog
   DEPENDS fmt
@@ -83,7 +83,7 @@ ExternalProject_Add(spdlog
     -DCMAKE_VERBOSE_MAKEFILE:BOOL=${CMAKE_VERBOSE_MAKEFILE}
     -DSPDLOG_BUILD_SHARED=ON
     -DCMAKE_CXX_FLAGS:STRING=-fPIC
-    -DSPDLOG_FMT_EXTERNAL:BOOLEAN=ON
+    -DSPDLOG_FMT_EXTERNAL:BOOL=ON
     -Dfmt_DIR=${CMAKE_INSTALL_PREFIX}/lib/cmake/fmt
 )
 
@@ -95,11 +95,11 @@ set(DRAKE_PREFIX "${PROJECT_BINARY_DIR}/drake-prefix")
 
 ExternalProject_Add(drake
   DEPENDS eigen fmt spdlog
-  URL https://github.com/RobotLocomotion/drake/archive/master.tar.gz
+  # URL https://github.com/RobotLocomotion/drake/archive/master.tar.gz
   # Or from a commit (download and use "shasum -a 256 'xxx.tar.gz'" on it to
   # get the URL_HASH.
-  # URL https://github.com/RobotLocomotion/drake/archive/65c4366ea2b63278a286b1e22b8d464d50fbe365.tar.gz
-  # URL_HASH SHA256=899d98485522a7cd5251e50a7a6b8a64e40aff2a3af4951a3f0857fd938cafca
+  URL https://github.com/RobotLocomotion/drake/archive/565130305be05a4d2071761442ae93ce5aadbcb7.tar.gz
+  URL_HASH SHA256=787c57af97eb267d8a980595a612964cc598f7350b3bbfacaf5743ea60c360ab
   TLS_VERIFY ON
   CMAKE_ARGS
     -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
@@ -109,9 +109,14 @@ ExternalProject_Add(drake
     -DCMAKE_PREFIX_PATH:PATH=${CMAKE_PREFIX_PATH}
     -DCMAKE_VERBOSE_MAKEFILE:BOOL=${CMAKE_VERBOSE_MAKEFILE}
     -DPYTHON_EXECUTABLE:FILEPATH=${Python3_EXECUTABLE}
-    -DWITH_USER_EIGEN:BOOLEAN=ON
-    -DWITH_USER_FMT:BOOLEAN=ON
-    -DWITH_USER_SPDLOG:BOOLEAN=ON
+    -DWITH_USER_EIGEN:BOOL=ON
+    -DWITH_USER_FMT:BOOL=ON
+    -DWITH_USER_SPDLOG:BOOL=ON
+    # The Drake build has options to turn features on/off.
+    # See https://drake.mit.edu/from_source.html for the full list.
+    # Here, we demonstrate how to set an arbitrary option
+    # for one of the open-source dependencies.
+    -DWITH_CSDP:BOOL=OFF
   PREFIX "${DRAKE_PREFIX}"
   BINARY_DIR "${PROJECT_BINARY_DIR}/drake"
   BUILD_ALWAYS ON

drake_cmake_external/drake_external_examples/CMakeLists.txt

@@ -27,3 +27,13 @@ set_tests_properties(import_all_test PROPERTIES
   ENVIRONMENT "PYTHONPATH=${DRAKE_PYTHONPATH}"
 )
 
+add_test(NAME solver_disabled_test
+  COMMAND Python3::Interpreter -B -m unittest solver_disabled_test
+)
+set_tests_properties(solver_disabled_test PROPERTIES
+  ENVIRONMENT "PYTHONPATH=${DRAKE_PYTHONPATH}"
+  LABELS small
+  REQUIRED_FILES "${CMAKE_CURRENT_SOURCE_DIR}/solver_disabled_test.py"
+  TIMEOUT 60
+  WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+)

drake_cmake_external/drake_external_examples/solver_disabled_test.py

@@ -0,0 +1,18 @@
+# SPDX-License-Identifier: MIT-0
+
+"""
+Our CMakeLists.txt file disabled the CSDP solver as part of the Drake build.
+Here, we'll check that the opt-out succeeded.
+"""
+
+import unittest
+
+from pydrake.solvers import CsdpSolver
+
+class TestCsdpSolver(unittest.TestCase):
+    def test_unavailable(self):
+        solver = CsdpSolver()
+        self.assertFalse(solver.available())
+
+if __name__ == '__main__':
+    unittest.main()