Release new osqp-cpp version with osqp and suitesparse fixes (#2419)

With the existing version of osqp-cpp, it uses `long long`. Although
osqp works with `long long`, another dependency of osqp, SuiteSparse
doesn't.

Therefore, although the code compiled, the program that depends on
osqp-cpp fails while linking them. There are two errors primarily:

1. Cannot find symbol amd_l_order used by qdldl_interface.c in osqp
- Fix: define -DDLONG as cxxopt for building SuiteSparse. The current
latest version 0.6.3.bcr.1 doesn't work and has been yanked.
2. Cannot find symbol osqp_is_interrupted used by osqp++.c
- Fix: Add src/ctrlc.c and include/ctrlc.h and define "CTRLC" while
building. This is why a new version of osqp is needed with these ctrl-c
interrupt definitions.

modules/osqp-cpp/0.0.0-20231004-4343373.bcr.1/MODULE.bazel

@@ -0,0 +1,8 @@
+module(
+    name = "osqp-cpp",
+    version = "0.0.0-20231004-4343373.bcr.1",
+)
+bazel_dep(name = "abseil-cpp", version = "20240116.2")
+bazel_dep(name = "eigen", version = "3.4.0.bcr.1")
+bazel_dep(name = "osqp", version = "0.6.3.bcr.2")
+bazel_dep(name = "rules_license", version = "0.0.8")

modules/osqp-cpp/0.0.0-20231004-4343373.bcr.1/patches/add_module_dot_bazel.patch

@@ -0,0 +1,11 @@
+--- MODULE.bazel
++++ MODULE.bazel
+@@ -0,0 +1,8 @@
++module(
++    name = "osqp-cpp",
++    version = "0.0.0-20231004-4343373.bcr.1",
++)
++bazel_dep(name = "abseil-cpp", version = "20240116.2")
++bazel_dep(name = "eigen", version = "3.4.0.bcr.1")
++bazel_dep(name = "osqp", version = "0.6.3.bcr.2")
++bazel_dep(name = "rules_license", version = "0.0.8")

modules/osqp-cpp/0.0.0-20231004-4343373.bcr.1/presubmit.yml

@@ -0,0 +1,18 @@
+matrix:
+  platform:
+  - debian10
+  - ubuntu2004
+  - macos
+  - macos_arm64
+  bazel:
+  - 7.x
+  - 6.x
+tasks:
+  verify_targets:
+    name: Verify build targets
+    platform: ${{ platform }}
+    bazel: ${{ bazel }}
+    build_flags:
+    - '--cxxopt=-std=c++17'
+    build_targets:
+    - '@osqp-cpp//...'

modules/osqp-cpp/0.0.0-20231004-4343373.bcr.1/source.json

@@ -0,0 +1,10 @@
+{
+    "url": "https://github.com/google/osqp-cpp/archive/43433736334d6b515ea4b0247156fea9e56c0d3f.tar.gz",
+    "integrity": "sha256-Ye1aTRuJMM0T6u6Z/qZLAt8iCEzmRArQVxOUPAHkwSQ=",
+    "strip_prefix": "osqp-cpp-43433736334d6b515ea4b0247156fea9e56c0d3f",
+    "patches": {
+        "../../0.0.0-20231004-4343373/patches/add-build-file.patch": "sha256-h4DBMwvSkV+caG2l/KGwBnrrM0UcbdgjEr2Dn9YTZTw=",
+        "add_module_dot_bazel.patch": "sha256-UC3WaukJ3gDMF6gtUDkFJ6HpL/p6Y4d79uYnLRU34ds="
+    },
+    "patch_strip": 0
+}

modules/osqp-cpp/metadata.json

@@ -11,7 +11,10 @@
         "github:google/osqp-cpp"
     ],
     "versions": [
-        "0.0.0-20231004-4343373"
+        "0.0.0-20231004-4343373",
+        "0.0.0-20231004-4343373.bcr.1"
     ],
-    "yanked_versions": {}
+    "yanked_versions": {
+        "0.0.0-20231004-4343373": "Fails while linking due to dependency SuiteSparse and osqp not having appropriate defines. Use 0.0.0-20231004-4343373.bcr.1 instead."
+    }
 }

modules/osqp/0.6.3.bcr.2/MODULE.bazel

@@ -0,0 +1,7 @@
+module(name = "osqp", version = "0.6.3.bcr.2")
+
+bazel_dep(name = "rules_cc", version = "0.0.9")
+bazel_dep(name = "platforms", version = "0.0.8")
+bazel_dep(name = "qdldl", version = "0.1.7.bcr.1")
+bazel_dep(name = "suitesparse", version = "7.6.0.bcr.1")
+bazel_dep(name = "cmake_configure_file", version = "0.1.0")

modules/osqp/0.6.3.bcr.2/patches/add_build_file.patch

@@ -0,0 +1,116 @@
+diff --git BUILD.bazel BUILD.bazel
+new file mode 100644
+index 00000000..00cc62f8
+--- /dev/null
++++ BUILD.bazel
+@@ -0,0 +1,110 @@
++load("@rules_cc//cc:defs.bzl", "cc_library")
++
++package(default_visibility = ["//visibility:public"])
++
++licenses(["notice"])
++
++load(
++    "@cmake_configure_file//:cmake_configure_file.bzl",
++    "cmake_configure_file",
++)
++exports_files([
++    "include/osqp.h",
++    "include/ctrlc.h",
++])
++# Generates osqp_configure.h based on the defines= we want in Drake.
++cmake_configure_file(
++    name = "configure_file",
++    src = "configure/osqp_configure.h.in",
++    out = "include/osqp_configure.h",
++    defines = [
++        "PRINTING",
++        "PROFILING",
++        "CTRLC",
++        "DLONG",
++        # In addition to the default primitive size of `double` and `int`,
++        # also define 'DLONG' which is required for @osqp-cpp. Don't define
++        # 'DFLOAT' unless @qdldl_internal and @scs_internal are
++        # also changed to use those primitive sizes.
++        # See drake/tools/workspace/qdldl_internal/README.md.
++    ] + select({
++        "@platforms//os:windows": [
++            "IS_WINDOWS",
++        ],
++        "@platforms//os:osx": [
++            "IS_MAC",
++        ],
++        "//conditions:default": [
++            "IS_LINUX",
++        ],
++    }),
++    undefines = [
++        "OSQP_CUSTOM_MEMORY",
++    ],
++    visibility = ["//visibility:private"],
++)
++
++cc_library(
++    name = "osqp",
++    # Our hdrs match OSQP's ./include/CMakeLists.txt variable `osqp_headers`.
++    hdrs = [
++        # These headers are always enabled in CMakeLists.
++        "include/auxil.h",
++        "include/constants.h",
++        "include/ctrlc.h", 
++        "include/error.h",
++        "include/glob_opts.h",
++        "include/lin_alg.h",
++        "include/osqp.h",
++        "include/osqp_configure.h",
++        "include/proj.h",
++        "include/scaling.h",
++        "include/types.h",
++        "include/util.h",
++        "include/version.h",
++        # These headers are enabled in CMakeLists only when building in normal
++        # mode.
++        "include/kkt.h",
++        # These headers are enabled in CMakeLists only when building in
++        # non-embedded mode.
++        "include/cs.h",
++        "include/polish.h",
++        "include/lin_sys.h",
++    ],
++    srcs = [
++        # From ./lin_sys/direct/qdldl/CMakeLists.txt at `qdldl_interface_src`.
++        "lin_sys/direct/qdldl/qdldl_interface.h",
++        "lin_sys/direct/qdldl/qdldl_interface.c",
++        # From ./src/CMakeLists.txt at `osqp_src`.
++        # These sources are always enabled in CMakeLists.
++        "src/auxil.c", 
++        "src/ctrlc.c", 
++        "src/error.c",
++        "src/lin_alg.c",
++        "src/osqp.c",
++        "src/proj.c",
++        "src/scaling.c",
++        "src/util.c",
++        # These sources are enabled in CMakeLists only when building in normal
++        # mode.
++        "src/kkt.c",
++        # These sources are enabled in CMakeLists only when building in
++        # non-embedded mode.
++        "src/cs.c",
++        "src/polish.c",
++        "src/lin_sys.c",
++    ],
++    includes = [
++        "include",
++        "lin_sys/direct/qdldl",
++    ],
++    copts = [
++        "-fvisibility=hidden",
++        "-w",
++        "-Werror=incompatible-pointer-types",
++    ],
++    deps = [
++        "@qdldl//:qdldl",
++        "@suitesparse//:amd",
++    ],
++)

modules/osqp/0.6.3.bcr.2/patches/module_dot_bazel.patch

@@ -0,0 +1,13 @@
+diff --git MODULE.bazel MODULE.bazel
+new file mode 100644
+index 00000000..44caadb7
+--- /dev/null
++++ MODULE.bazel
+@@ -0,0 +1,7 @@
++module(name = "osqp", version = "0.6.3.bcr.2")
++
++bazel_dep(name = "rules_cc", version = "0.0.9")
++bazel_dep(name = "platforms", version = "0.0.8")
++bazel_dep(name = "qdldl", version = "0.1.7.bcr.1")
++bazel_dep(name = "suitesparse", version = "7.6.0.bcr.1")
++bazel_dep(name = "cmake_configure_file", version = "0.1.0")

modules/osqp/0.6.3.bcr.2/presubmit.yml

@@ -0,0 +1,14 @@
+matrix:
+  platform:
+    - debian10
+    - ubuntu2004
+    - macos
+    - macos_arm64
+  bazel: [6.x, 7.x]
+tasks:
+  verify_targets:
+    name: Verify build targets
+    platform: ${{ platform }}
+    bazel: ${{ bazel }}
+    build_targets:
+      - "@osqp//:osqp"

modules/osqp/0.6.3.bcr.2/source.json

@@ -0,0 +1,9 @@
+{
+    "url": "https://github.com/osqp/osqp/releases/download/v0.6.3/osqp-v0.6.3-src.tar.gz",
+    "integrity": "sha256-KFsqYPaNEToQkHZ+yKnIGmWzry0lj4x4oxzD+YulhFY=",
+    "patches": {
+        "add_build_file.patch": "sha256-kldF6tsqE6rvZmk7j+qiWAfkQhuOVbBfId7Kfkp7J54=",
+        "module_dot_bazel.patch": "sha256-4cnZszG7pcoBe5EhhGpcjvDw3n49ObGHCcP+N7EoD6E="
+    },
+    "patch_strip": 0
+}

modules/osqp/metadata.json

@@ -12,7 +12,10 @@
     ],
     "versions": [
         "0.6.3",
-        "0.6.3.bcr.1"
+        "0.6.3.bcr.1",
+        "0.6.3.bcr.2"
     ],
-    "yanked_versions": {}
-}
+    "yanked_versions": {
+        "0.6.3.bcr.1": "Fails while linking due to dependency SuiteSparse not defining LONG. Use 0.6.3.bcr.2 instead."
+    }
+}

modules/qdldl/metadata.json

@@ -11,8 +11,7 @@
         "github:osqp/qdldl"
     ],
     "versions": [
-        "0.1.7",
-        "0.1.7.bcr.1"
+        "0.1.7"
     ],
     "yanked_versions": {}
-}
+}

modules/suitesparse/7.6.0.bcr.1/MODULE.bazel

@@ -0,0 +1 @@
+module(name = "suitesparse", version = "7.6.0.bcr.1")

modules/suitesparse/7.6.0.bcr.1/patches/add_build_file.patch

@@ -0,0 +1,46 @@
+diff --git BUILD.bazel BUILD.bazel
+new file mode 100644
+index 000000000..14b84cd84
+--- /dev/null
++++ BUILD.bazel
+@@ -0,0 +1,40 @@
++licenses(["notice"])  # BSD-3-Clause
++
++package(default_visibility = ["//visibility:private"])
++
++cc_library(
++    name = "config",
++    srcs = ["SuiteSparse_config/SuiteSparse_config.c"],
++    hdrs = ["SuiteSparse_config/SuiteSparse_config.h"],
++    strip_include_prefix = "SuiteSparse_config",
++    copts = ["-fvisibility=hidden"],
++    visibility = ["//visibility:public"],
++)
++
++# The header for libamd.
++cc_library(
++    name = "amd_hdrs",
++    hdrs = [
++        "AMD/Include/amd_internal.h",
++        "AMD/Include/amd.h",
++    ],
++    strip_include_prefix = "AMD/Include",
++    deps = [
++        ":config",
++    ],
++)
++
++# The libamd sources are compiled twice, once as 32-bit and once as 64-bit.
++_AMD_SRCS = glob(
++    ["AMD/Source/amd_*.c"],
++    exclude = ["AMD/Source/amd_l*.c"],
++    allow_empty = False,
++)
++
++cc_library(
++    name = "amd",
++    srcs = _AMD_SRCS,
++    copts = ["-fvisibility=hidden", "-DDLONG"],
++    deps = [":amd_hdrs"],
++    visibility = ["//visibility:public"],
++)

modules/suitesparse/7.6.0.bcr.1/patches/module_dot_bazel.patch

@@ -0,0 +1,7 @@
+diff --git MODULE.bazel MODULE.bazel
+new file mode 100644
+index 000000000..dd5383095
+--- /dev/null
++++ MODULE.bazel
+@@ -0,0 +1 @@
++module(name = "suitesparse", version = "7.6.0.bcr.1")

modules/suitesparse/7.6.0.bcr.1/presubmit.yml

@@ -0,0 +1,14 @@
+matrix:
+  platform:
+    - debian10
+    - ubuntu2004
+    - macos
+    - macos_arm64
+  bazel: [6.x, 7.x]
+tasks:
+  verify_targets:
+    name: Verify build targets
+    platform: ${{ platform }}
+    bazel: ${{ bazel }}
+    build_targets:
+      - "@suitesparse//:amd"

modules/suitesparse/7.6.0.bcr.1/source.json

@@ -0,0 +1,10 @@
+{
+    "url": "https://github.com/DrTimothyAldenDavis/SuiteSparse/archive/refs/tags/v7.6.0.tar.gz",
+    "integrity": "sha256-GcvrmWTr5DlBPdZtgqzh+QStxfJdioI8G0jDS9DSnqU=",
+    "strip_prefix": "SuiteSparse-7.6.0",
+    "patches": {
+        "add_build_file.patch": "sha256-9ZjpYTk5upEKyChEYOF/cYNKeEPn3eBlL6e2uDQ+IG4=",
+        "module_dot_bazel.patch": "sha256-yu2EF5hSQKkIjbLh1bfhgvBEyoPiWYVByrV4tPGvZcg="
+    },
+    "patch_strip": 0
+}

modules/suitesparse/metadata.json

@@ -8,10 +8,11 @@
         }
     ],
     "repository": [
-      "github:DrTimothyAldenDavis/SuiteSparse"
+        "github:DrTimothyAldenDavis/SuiteSparse"
     ],
     "versions": [
-        "7.6.0"
+        "7.6.0",
+        "7.6.0.bcr.1"
     ],
     "yanked_versions": {}
 }