build(c3): Update version for drake and bazel

.bazeliskrc

@@ -1,2 +1,2 @@
 # Keep this version up to date with the version used by drake
-USE_BAZEL_VERSION=7.3.1
+USE_BAZEL_VERSION=8.2.1

.gitignore

@@ -3,7 +3,7 @@
 /bazel-out
 /bazel-testlogs
 .clwb/
-MODULE.bazel
 MODULE.bazel.lock
 **/__pycache__/** 
-.vscode
+.vscode
+*.ps

BUILD.bazel

@@ -0,0 +1,2 @@
+# This is an empty BUILD file, to ensure that the project's root directory is a
+# bazel package.

MODULE.bazel

@@ -0,0 +1,78 @@
+## MODULE.bazel
+module(
+    name = "c3"
+)
+
+# If you don't want to support building on macOS, you may remove the next line.
+# Note that it must appear prior to loading "rules_cc", per the documentation:
+#  https://github.com/bazelbuild/apple_support?tab=readme-ov-file#bazel-7-setup
+bazel_dep(name = "apple_support", version = "1.17.1", repo_name = "build_bazel_apple_support")
+
+# Add the Bazel rules we need.
+bazel_dep(name = "rules_cc", version = "0.1.1")
+bazel_dep(name = "rules_python", version = "1.0.0")
+bazel_dep(name = "bazel_skylib", version = "1.7.1")
+
+drake_dep_repositories = use_extension(
+    "@drake//tools/workspace:default.bzl",
+    "drake_dep_repositories",
+)
+
+use_repo(
+    drake_dep_repositories,
+    "lcm",
+    "eigen",
+    "fmt",
+    "gflags",
+    "gtest",
+    "pybind11",
+    "gurobi",
+)
+
+# Use gurobi_cxx, which Drake deprecated
+gurobi_extension = use_extension("@c3//tools/workspace/gurobi:repository.bzl", "gurobi_extension")
+use_repo(gurobi_extension, "my_gurobi")
+
+# Replace Drake's Gurobi repository with ours.
+override_repo(
+    drake_dep_repositories,
+    gurobi = "my_gurobi",
+)
+
+# Here we introduce Drake as a module dependency, but note that Drake is not
+# published to any Bazel registry. Below, we'll override it with a github
+# source archive.
+bazel_dep(name = "drake")
+
+# You can also use DRAKE_COMMIT to choose a Drake release; e.g.:
+DRAKE_COMMIT = "v1.42.0"
+DRAKE_CHECKSUM = "d860c15f50397c8a946fcc79e0a58a91ebc56f2189ef9edfcac929aa04157f8b"
+
+# Before changing the COMMIT, temporarily uncomment the next line so that Bazel
+# displays the suggested new value for the CHECKSUM.
+# DRAKE_CHECKSUM = "0" * 64
+
+# This declares the `@drake` module as a source code archive from github.
+# See README.md for instructions to use a local path, instead.
+archive_override(
+    module_name = "drake",
+    urls = [x.format(DRAKE_COMMIT) for x in [
+        "https://github.com/RobotLocomotion/drake/archive/{}.tar.gz",
+    ]],
+    sha256 = DRAKE_CHECKSUM,
+    strip_prefix = "drake-{}".format(DRAKE_COMMIT.lstrip("v")),
+)
+
+# Use the host system /usr/bin/python3.
+python_repository = use_repo_rule(
+    "@drake//tools/workspace/python:repository.bzl",
+    "python_repository",
+)
+
+python_repository(
+    name = "python",
+    linux_interpreter_path = "/usr/bin/python3",
+    requirements_flavor = "build",
+)
+
+register_toolchains("@python//:all")

systems/c3_controller.cc

@@ -8,6 +8,8 @@
 #include "core/c3_qp.h"
 #include "multibody/lcs_factory.h"
 
+#include "drake/common/text_logging.h"
+
 namespace c3 {
 
 using drake::multibody::ModelInstanceIndex;

tools/workspace/gurobi/BUILD.bazel

@@ -0,0 +1,13 @@
+load("@bazel_skylib//lib:selects.bzl", "selects")
+
+selects.config_setting_group(
+    name = "enabled",
+    match_any = [
+        ":enabled_via_flag",
+    ],
+)
+
+config_setting(
+    name = "enabled_via_flag",
+    flag_values = {"@drake//tools/flags:with_gurobi": "True"},
+)

tools/workspace/gurobi/package-darwin.BUILD.bazel.in

@@ -0,0 +1,55 @@
+# -*- bazel -*-
+
+load("@drake//tools/install:install.bzl", "install")
+load("@drake//tools/skylark:cc.bzl", "cc_library")
+
+licenses(["by_exception_only"])  # Gurobi
+
+# This rule is only built if a glob() call fails.
+genrule(
+    name = "error-message",
+    outs = ["error-message.h"],
+    cmd = "echo 'error: Gurobi 10.0 is not installed at {gurobi_home}' && false",  # noqa
+    visibility = ["//visibility:private"],
+)
+
+GUROBI_C_HDRS = glob([
+    "gurobi-distro/include/gurobi_c.h",
+], allow_empty = True) or [":error-message.h"]
+
+GUROBI_CXX_HDRS = glob([
+    "gurobi-distro/include/gurobi_c.h",
+    "gurobi-distro/include/gurobi_c++.h",
+], allow_empty = True) or [":error-message.h"]
+
+cc_library(
+    name = "gurobi_c",
+    hdrs = GUROBI_C_HDRS,
+    includes = ["gurobi-distro/include"],
+    linkopts = [
+        "-L{gurobi_home}/lib",
+        "-lgurobi100",
+        "-Wl,-rpath,{gurobi_home}/lib",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+cc_library(
+    name = "gurobi_cxx",
+    hdrs = GUROBI_CXX_HDRS,
+    includes = ["gurobi-distro/include"],
+    linkopts = [
+        "-L{gurobi_home}/lib",
+        "-lgurobi100",
+        "-lgurobi_stdc++",
+        "-Wl,-rpath,{gurobi_home}/lib",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+# For macOS, the Drake install step does not need any additional actions to
+# install Gurobi, since Gurobi was already installed system-wide in /Library.
+install(
+    name = "install",
+    visibility = ["//visibility:public"],
+)

tools/workspace/gurobi/package-linux.BUILD.bazel.in

@@ -0,0 +1,82 @@
+# -*- bazel -*-
+
+load("@drake//tools/install:install.bzl", "install", "install_files")
+load("@drake//tools/skylark:cc.bzl", "cc_library")
+
+licenses(["by_exception_only"])  # Gurobi
+
+# This rule is only built if a glob() call fails.
+genrule(
+    name = "error-message",
+    outs = ["error-message.h"],
+    cmd = "echo 'error: Gurobi 10.0 is not installed at {gurobi_home}, export GUROBI_HOME to the correct value' && false",  # noqa
+    visibility = ["//visibility:private"],
+)
+
+GUROBI_C_HDRS = glob([
+    "gurobi-distro/include/gurobi_c.h",
+], allow_empty = True) or [":error-message.h"]
+
+GUROBI_CXX_HDRS = glob([
+    "gurobi-distro/include/gurobi_c.h",
+    "gurobi-distro/include/gurobi_c++.h",
+], allow_empty = True) or [":error-message.h"]
+
+# In the Gurobi package, libgurobi100.so is a symlink to libgurobi.so.10.0.*.
+# However, if we use libgurobi.so.10.0.* in srcs, executables that link this
+# library will be unable to find it at runtime in the Bazel sandbox,
+# because the NEEDED statements in the executable will not square with the
+# RPATH statements.  I don't really know why this happens, but I suspect it
+# might be a Bazel bug.
+
+GUROBI_C_SRCS = glob([
+    "gurobi-distro/lib/libgurobi100.so",
+], allow_empty = True) or [":error-message.h"]
+
+GUROBI_CXX_SRCS = glob([
+    "gurobi-distro/lib/libgurobi100.so",
+    "gurobi-distro/lib/libgurobi_g++5.2.a",
+], allow_empty = True) or [":error-message.h"]
+
+GUROBI_INSTALL_LIBRARIES = glob([
+    "gurobi-distro/lib/libgurobi.so.10.0.*",
+    "gurobi-distro/lib/libgurobi100.so",
+], allow_empty = True) or [":error-message.h"]
+
+GUROBI_DOCS = glob([
+    "gurobi-distro/EULA.pdf",
+], allow_empty = True) or [":error-message.h"]
+
+cc_library(
+    name = "gurobi_c",
+    srcs = GUROBI_C_SRCS,
+    hdrs = GUROBI_C_HDRS,
+    includes = ["gurobi-distro/include"],
+    linkopts = ["-pthread"],
+    visibility = ["//visibility:public"],
+)
+
+cc_library(
+    name = "gurobi_cxx",
+    srcs = GUROBI_CXX_SRCS,
+    hdrs = GUROBI_CXX_HDRS,
+    includes = ["gurobi-distro/include"],
+    linkopts = ["-pthread"],
+    visibility = ["//visibility:public"],
+)
+
+install_files(
+    name = "install_libraries",
+    dest = ".",
+    files = GUROBI_INSTALL_LIBRARIES,
+    strip_prefix = ["gurobi-distro"],
+    visibility = ["//visibility:private"],
+)
+
+install(
+    name = "install",
+    docs = GUROBI_DOCS,
+    doc_strip_prefix = ["gurobi-distro"],
+    visibility = ["//visibility:public"],
+    deps = [":install_libraries"],
+)

tools/workspace/gurobi/repository.bzl

@@ -0,0 +1,89 @@
+# This is a Bazel repository_rule for the Gurobi solver.  See
+# https://www.bazel.io/versions/master/docs/skylark/repository_rules.html
+
+# Finds the "latest" f'{path}/{prefix}*/{subdir}', where "latest" is determined
+# by converting the part that matched the '*' to an integer and taking the
+# match with the highest value.
+def _find_latest(repo_ctx, path, prefix, subdir):
+    best_dir = None
+    best_version = None
+    for d in repo_ctx.path(path).readdir():
+        if d.basename.startswith(prefix):
+            full_dir = d.get_child(subdir)
+            if full_dir.exists:
+                version = int(d.basename[len(prefix):])
+                if best_version == None or version > best_version:
+                    best_version = version
+                    best_dir = str(full_dir)
+
+    return best_dir or (path + "/" + prefix + "-notfound/" + subdir)
+
+# Ubuntu only: GUROBI_HOME should be the linux64 directory in the Gurobi 10.0
+# release.
+#
+def _gurobi_impl(repo_ctx):
+    os_name = repo_ctx.os.name
+    if os_name == "mac os x":
+        os_name = "darwin"
+
+    if os_name == "darwin":
+        # Gurobi must be installed into its standard location.
+        gurobi_home = _find_latest(
+            repo_ctx,
+            "/Library",
+            "gurobi100",
+            "macos_universal2",
+        )
+        repo_ctx.symlink(gurobi_home, "gurobi-distro")
+    elif os_name == "linux":
+        # The default directory for the downloaded gurobi is
+        # /opt/gurobi100*/linux64. If the user does not use the default
+        # directory, the he/she should set GUROBI_HOME environment variable to
+        # the gurobi file location.
+        gurobi_home = repo_ctx.getenv("GUROBI_HOME", "")
+        repo_ctx.symlink(
+            gurobi_home or _find_latest(
+                repo_ctx,
+                "/opt",
+                "gurobi100",
+                "linux64",
+            ),
+            "gurobi-distro",
+        )
+    else:
+        # Defer error reporting to the BUILD file.
+        repo_ctx.symlink("/gurobi-notfound", "gurobi-distro")
+        os_name = "linux"
+
+    # Emit the generated BUILD.bazel file.
+    repo_ctx.template(
+        "BUILD.bazel",
+        Label("@//tools/workspace/gurobi:" +
+              "package-{}.BUILD.bazel.in".format(os_name)),
+        substitutions = {
+            "{gurobi_home}": gurobi_home,
+        },
+        executable = False,
+    )
+
+    # Capture whether or not Gurobi tests can run in parallel.
+    license_unlimited_int = repo_ctx.getenv("DRAKE_GUROBI_LICENSE_UNLIMITED", "0")  # noqa: E501
+    license_unlimited = bool(int(license_unlimited_int) == 1)
+    repo_ctx.file(
+        "defs.bzl",
+        content = "DRAKE_GUROBI_LICENSE_UNLIMITED = {}"
+            .format(license_unlimited),
+        executable = False,
+    )
+
+gurobi_repository = repository_rule(
+    local = True,
+    implementation = _gurobi_impl,
+)
+
+def _gurobi_extension_impl(module_ctx):
+    gurobi_repository(name = "my_gurobi")
+
+gurobi_extension = module_extension(
+    implementation = _gurobi_extension_impl,
+)