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[drake_cmake_external] Add test case to disable solver #370

Merged
merged 9 commits into from
Feb 25, 2025
Merged

[drake_cmake_external] Add test case to disable solver #370

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846f2be
add solver_disabled_test
tyler-yankee Feb 13, 2025
7e717a9
use development branch of Drake (temp)
tyler-yankee Feb 14, 2025
0d468e6
add comments to CMakeLists and the unit test for solver option
tyler-yankee Feb 20, 2025
0bb71ce
update temporary commit of Drake to test new option
tyler-yankee Feb 20, 2025
294b836
fix BOOL/BOOLEAN syntax in CMakeLists
tyler-yankee Feb 21, 2025
e077e65
update temporary commit of Drake (CI test)
tyler-yankee Feb 24, 2025
16e8c6b
Merge remote-tracking branch 'upstream' into cmake-solvers
jwnimmer-tri Feb 25, 2025
29aa298
revert back to drake master
jwnimmer-tri Feb 25, 2025
aa7ea68
rewrap comment to 80
jwnimmer-tri Feb 25, 2025
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7 changes: 4 additions & 3 deletions drake_cmake_external/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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/f848b02282cda2128475aa9a10db704a086b9752.tar.gz
URL_HASH SHA256=baee279a679268eddb98fa8ec0356dae8ec0e86520e80e5559e73030f9c8cca2
TLS_VERIFY ON
CMAKE_ARGS
-DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
Expand All @@ -112,6 +112,7 @@ ExternalProject_Add(drake
-DWITH_USER_EIGEN:BOOLEAN=ON
-DWITH_USER_FMT:BOOLEAN=ON
-DWITH_USER_SPDLOG:BOOLEAN=ON
-DWITH_CSDP:BOOLEAN=OFF
PREFIX "${DRAKE_PREFIX}"
BINARY_DIR "${PROJECT_BINARY_DIR}/drake"
BUILD_ALWAYS ON
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10 changes: 10 additions & 0 deletions drake_cmake_external/drake_external_examples/CMakeLists.txt
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Expand Up @@ -27,3 +27,13 @@ set_tests_properties(import_all_test PROPERTIES
ENVIRONMENT "PYTHONPATH=${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}"
)
17 changes: 17 additions & 0 deletions drake_cmake_external/drake_external_examples/solver_disabled_test.py
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@@ -0,0 +1,17 @@
# SPDX-License-Identifier: MIT-0

"""
Provides an example of disabling the open-source CSDP solver.
"""

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()
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