Add precompiled drake-visualizer to Bazel build

WORKSPACE

@@ -255,12 +255,6 @@ mosek_repository(
     name = "mosek",
 )
 
-load("//tools:soft_failure.bzl", "soft_failure_binary_repository")
-soft_failure_binary_repository(
-    name = "drake_visualizer",
-    local_path = __workspace_dir__ + "/build/install/bin/drake-visualizer",
-)
-
 load("//tools:gfortran.bzl", "gfortran_repository")
 gfortran_repository(
     name = "gfortran",
@@ -360,3 +354,8 @@ pkg_config_package(
     name = "zlib",
     modname = "zlib",
 )
+
+load("//tools:director.bzl", "director_repository")
+director_repository(
+    name = "director",
+)

drake/automotive/BUILD

@@ -436,7 +436,7 @@ py_binary(
         ":automotive_demo",
         ":lcm-spy",
         ":steering_command_driver",
-        "@drake_visualizer//:drake-visualizer",
+        "//tools:drake_visualizer",
         "@lcm//:lcm-logger",
     ],
     main = "automotive_demo.py",

drake/automotive/README.md

@@ -7,25 +7,6 @@ getting started with Bazel, see http://drake.mit.edu/bazel.html.
 Note that the *libraries* in this directory subtree support the CMake build
 system; only the demo is Bazel-specific.
 
-Prepare the drake-visualizer
-----------------------------
-
-The ``drake-visualizer`` is only available via a CMake build.  We recommend
-that you run a CMake build per the Drake instructions, using the same source
-tree as this demo.  In that case, the ``drake-visualizer`` will automatically
-be discovered and launched by this demo.
-
-Otherwise, you will see a message like:
-
-```
-soft_failure.bzl: @drake_visualizer//:drake-visualizer does not work because
-  drake-distro/build/install/bin/drake-visualizer was missing
-```
-
-In this case, the automotive demo must be run with the ``--no-visualizer``
-switch, and you will have to manually launch some other build of the
-``drake-visualizer``.
-
 Running the demos
 -----------------
 

drake/automotive/automotive_demo.py

@@ -186,7 +186,7 @@ def receive(channel, data):
 def main():
     demo_path = "drake/automotive/automotive_demo"
     steering_command_driver_path = "drake/automotive/steering_command_driver"
-    drake_visualizer_path = "external/drake_visualizer/drake-visualizer"
+    drake_visualizer_path = "tools/drake_visualizer"
     lcm_spy_path = "drake/automotive/lcm-spy"
     lcm_logger_path = "external/lcm/lcm-logger"
 

tools/BUILD

@@ -17,6 +17,15 @@ sh_binary(
     data = ["asan.supp"],
 )
 
+sh_binary(
+    name = "drake_visualizer",
+    srcs = select({
+        "//tools:apple": ["drake_visualizer_apple.sh"],
+        "//conditions:default": ["drake_visualizer_linux.sh"],
+    }),
+    data = ["@director"],
+)
+
 sh_binary(
     name = "lsan",
     srcs = ["lsan.sh"],

tools/director.bzl

@@ -0,0 +1,55 @@
+# -*- mode: python -*-
+# vi: set ft=python :
+
+def _impl(repository_ctx):
+    if repository_ctx.os.name == "mac os x":
+        archive = "dd-0.1.0-160-ga50a077-qt-5.8.0-Darwin.tar.gz"
+        sha256 = "6873427eb417e03688e85ac59955777fda67f89781245f3146470c5156045691"
+    elif repository_ctx.os.name == "linux":
+        sed = repository_ctx.which("sed")
+
+        if not sed:
+            fail("Could NOT determine Linux distribution information because" +
+                 " sed is missing")
+
+        result = repository_ctx.execute([
+            sed,
+            "-n",
+            "/^\(NAME\|VERSION_ID\)=/{s/[^=]*=//;s/\"//g;p}",
+            "/etc/os-release"])
+
+        if result.return_code != 0:
+            fail("Could NOT determine Linux distribution information",
+                 attr=result.stderr)
+
+        distro = [l.strip() for l in result.stdout.strip().split("\n")]
+        distro = " ".join(distro)
+
+        if distro == "Ubuntu 14.04":
+            archive = "dd-0.1.0-160-ga50a077-qt-4.8.6-trusty-x86_64.tar.gz"
+            sha256 = "7d8e5bf66648edffc8f003d0c0a19c80745cdf7b5c9a524069b041dd67c865d1"
+        elif distro == "Ubuntu 16.04":
+            archive = "dd-0.1.0-160-ga50a077-qt-5.5.1-xenial-x86_64.tar.gz"
+            sha256 = "c4dbd896454a293c3bb65761763ce0571e83dd81b6986e1458073d88a7ef55c7"
+        else:
+            fail("Linux distribution is NOT supported", attr=distro)
+    else:
+        fail("Operating system is NOT supported", attr=repository_ctx.os.name)
+
+    url = "https://d2mbb5ninhlpdu.cloudfront.net/director/{}".format(archive)
+    root_path = repository_ctx.path("")
+
+    repository_ctx.download_and_extract(url, root_path, sha256=sha256)
+
+    file_content = """
+filegroup(
+    name = "director",
+    srcs = glob(["**/*"]),
+    data = ["@vtk"],
+    visibility = ["//visibility:public"],
+)
+"""
+
+    repository_ctx.file("BUILD", content=file_content, executable=False)
+
+director_repository = repository_rule(implementation = _impl)

tools/drake_visualizer_apple.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+export DYLD_LIBRARY_PATH="external/director/lib${DYLD_LIBRARY_PATH:+:$DYLD_LIBRARY_PATH}"
+# TODO(jamiesnape): Do not hard code absolute path to vtk@8.0.
+export PYTHONPATH="external/director/lib/python2.7/dist-packages:/usr/local/opt/vtk@8.0/lib/python2.7/site-packages${PYTHONPATH:+:$PYTHONPATH}"
+
+exec "external/director/bin/drake-visualizer" "$@"

tools/drake_visualizer_linux.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+export LD_LIBRARY_PATH="external/director/lib:external/vtk/lib${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
+export PYTHONPATH="external/director/lib/python2.7/dist-packages:external/vtk/lib/python2.7/site-packages${PYTHONPATH:+:$PYTHONPATH}"
+
+exec "external/director/bin/drake-visualizer" "$@"

tools/vtk.bzl

@@ -23,7 +23,7 @@ Argument:
     name: A unique name for this rule.
 """
 
-VTK_MAJOR_MINOR_VERSION = "7.1"
+VTK_MAJOR_MINOR_VERSION = "8.0"
 
 def _vtk_cc_library(os_name, name, hdrs=None, visibility=None, deps=None,
                     header_only=False):
@@ -54,7 +54,7 @@ def _vtk_cc_library(os_name, name, hdrs=None, visibility=None, deps=None,
 
         if not header_only:
             linkopts = [
-                "-L/usr/local/opt/vtk@8.0/lib",
+                "-L/usr/local/opt/vtk@{}/lib".format(VTK_MAJOR_MINOR_VERSION),
                 "-l{}-{}".format(name, VTK_MAJOR_MINOR_VERSION),
             ]
     else:
@@ -77,8 +77,8 @@ cc_library(
 
 def _impl(repository_ctx):
     if repository_ctx.os.name == "mac os x":
-        # TODO(jamiesnape): Use VTK_MAJOR_MINOR_VERSION instead of hard-coding.
-        repository_ctx.symlink("/usr/local/opt/vtk@8.0/include", "include")
+        repository_ctx.symlink("/usr/local/opt/vtk@{}/include".format(
+            VTK_MAJOR_MINOR_VERSION), "include")
         repository_ctx.file("empty.cc", executable=False)
 
     elif repository_ctx.os.name == "linux":
@@ -100,11 +100,11 @@ def _impl(repository_ctx):
         distro = " ".join(distro)
 
         if distro == "Ubuntu 14.04":
-            archive = "vtk-v7.1.1-1584-g28deb56-qt-4.8.6-trusty-x86_64.tar.gz"
-            sha256 = "709fb9a5197ee5a87bc92760c2fe960b89326acd11a0ce6adf9d7d023563f5d4"
+            archive = "vtk-v8.0.0.rc2-qt-4.8.6-trusty-x86_64.tar.gz"
+            sha256 = "78880d8b951355a6ad5a6bfc42275ae42f31e2e05f1b52e3a9883226556b1685"
         elif distro == "Ubuntu 16.04":
-            archive = "vtk-v7.1.1-1584-g28deb56-qt-5.5.1-xenial-x86_64.tar.gz"
-            sha256 = "d21cae88b2276fd59c94f0e41244fc8f7e31ff796518f731e4fffc25f8e01cbc"
+            archive = "vtk-v8.0.0.rc2-qt-5.5.1-xenial-x86_64.tar.gz "
+            sha256 = "963f81abd90da4470df1fb20aee8b4ead815f543f3ae9fa00ef2ea6be5cc2c0c"
         else:
             fail("Linux distribution is NOT supported", attr=distro)
 
@@ -487,7 +487,4 @@ filegroup(
 
     repository_ctx.file("BUILD", content=file_content, executable=False)
 
-vtk_repository = repository_rule(
-    local = True,
-    implementation = _impl,
-)
+vtk_repository = repository_rule(implementation = _impl)