Add DLONG support for osqp and qdldl (#2147)

This PR:
- Adds DLONG flag to build OSQP with 64-bit integers to fix #2135 
- Removes `QDLDL_LONG=0` flag in `qdldl` and sets INT_MAX to long long
- Without this change, google/osqp-cpp cannot build on Bazel, and cannot
be published to BCR

The maintainer @wep21 has commented some concerns about DLONG and its
relation with `qdldl` too. Please let me know what else I can do to
enable this.

Closes #2135

modules/osqp/0.6.3.bcr.1/MODULE.bazel

@@ -0,0 +1,7 @@
+module(name = "osqp", version = "0.6.3.bcr.1")
+
+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")
+bazel_dep(name = "cmake_configure_file", version = "0.1.0")

modules/osqp/0.6.3.bcr.1/patches/add_build_file.patch

@@ -0,0 +1,113 @@
+diff --git BUILD.bazel BUILD.bazel
+new file mode 100644
+index 00000000..00cc62f8
+--- /dev/null
++++ BUILD.bazel
+@@ -0,0 +1,107 @@
++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",
++        "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/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/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.1/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.1")
++
++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")
++bazel_dep(name = "cmake_configure_file", version = "0.1.0")

modules/osqp/0.6.3.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:
+      - "@osqp//:osqp"

modules/osqp/0.6.3.bcr.1/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-Iyg78OunAc0hSy4nDMnLUXkQSwLbBq5H8BoddHpasGo=",
+        "module_dot_bazel.patch": "sha256-iqPR48TRE8l/sPtEcY7F2liUZeaN+2gWPp+FjdeKQqQ="
+    },
+    "patch_strip": 0
+}

modules/osqp/metadata.json

@@ -11,7 +11,8 @@
         "github:osqp/osqp"
     ],
     "versions": [
-        "0.6.3"
+        "0.6.3",
+        "0.6.3.bcr.1"
     ],
     "yanked_versions": {}
 }

modules/qdldl/0.1.7.bcr.1/MODULE.bazel

@@ -0,0 +1,8 @@
+module(
+    name = "qdldl",
+    version = "0.1.7.bcr.1",
+    compatibility_level = 1,
+)
+
+bazel_dep(name = "platforms", version = "0.0.8")
+bazel_dep(name = "rules_cc", version = "0.0.9")

modules/qdldl/0.1.7.bcr.1/patches/add_build_file.patch

@@ -0,0 +1,69 @@
+diff --git BUILD.bazel BUILD.bazel
+new file mode 100644
+index 0000000..aabba4f
+--- /dev/null
++++ BUILD.bazel
+@@ -0,0 +1,63 @@
++load("@rules_cc//cc:defs.bzl", "cc_library")
++
++load(
++    "//bazel:cmake_configure_file.bzl",
++    "cmake_configure_file",
++)
++
++licenses(["notice"])
++
++package(
++    default_visibility = ["//visibility:public"],
++)
++
++cmake_configure_file(
++    name = "configure_file_types",
++    src = "configure/qdldl_types.h.in",
++    out = "include/qdldl_types.h",
++    # https://github.com/osqp/qdldl/blob/v0.1.6/README.md#custom-types-for-integer-floats-and-booleans
++    defines = [
++        "QDLDL_BOOL_TYPE=unsigned char",
++        # Keep the `int` type sync'd with the build of @osqp_internal and
++        # @scs_internal. See drake/tools/workspace/qdldl_internal/README.md.
++        "QDLDL_INT_TYPE=long long",
++        # Keep the `int` type sync'd with the build of @osqp_internal and
++        # @scs_internal. See drake/tools/workspace/qdldl_internal/README.md.
++        "QDLDL_FLOAT_TYPE=double",
++        "QDLDL_FLOAT=0",
++        # Match this to QDLDL_INT_TYPE above.
++        "QDLDL_INT_TYPE_MAX=LLONG_MAX",
++    ],
++    visibility = ["//visibility:private"],
++)
++
++cmake_configure_file(
++    name = "configure_file_version",
++    src = "configure/qdldl_version.h.in",
++    out = "include/qdldl_version.h",
++    cmakelists = [
++        "CMakeLists.txt",
++    ],
++    visibility = ["//visibility:private"],
++)
++
++cc_library(
++    name = "qdldl",
++    hdrs = [
++        "include/qdldl.h",
++        ":include/qdldl_types.h",
++        ":include/qdldl_version.h",
++    ],
++    srcs = [
++        "src/qdldl.c",
++    ],
++    copts = [
++        "-fvisibility=hidden",
++    ] + select({
++        "@platforms//os:windows": [],
++        "//conditions:default": ["-Werror=incompatible-pointer-types"],
++    }),
++    includes = [
++        "include",
++    ],
++)

modules/qdldl/0.1.7.bcr.1/patches/module_dot_bazel.patch

@@ -0,0 +1,14 @@
+diff --git MODULE.bazel MODULE.bazel
+new file mode 100644
+index 0000000..01bf673
+--- /dev/null
++++ MODULE.bazel
+@@ -0,0 +1,8 @@
++module(
++    name = "qdldl",
++    version = "0.1.7.bcr.1",
++    compatibility_level = 1,
++)
++
++bazel_dep(name = "platforms", version = "0.0.8")
++bazel_dep(name = "rules_cc", version = "0.0.9")

modules/qdldl/0.1.7.bcr.1/presubmit.yml

@@ -0,0 +1,15 @@
+matrix:
+  platform:
+    - debian10
+    - ubuntu2004
+    - macos
+    - macos_arm64
+    - windows
+  bazel: [6.x, 7.x]
+tasks:
+  verify_targets:
+    name: Verify build targets
+    platform: ${{ platform }}
+    bazel: ${{ bazel }}
+    build_targets:
+      - "@qdldl//:qdldl"

modules/qdldl/0.1.7.bcr.1/source.json

@@ -0,0 +1,11 @@
+{
+    "url": "https://github.com/osqp/qdldl/archive/refs/tags/v0.1.7.tar.gz",
+    "integrity": "sha256-YxrmXzZ4Wfoe+t4WVuS6IrfaeJwG4BDM64spZWv2V1c=",
+    "strip_prefix": "qdldl-0.1.7",
+    "patches": {
+        "add_build_file.patch": "sha256-oeIkqdGQy/8KU9Sd92Lnxr7ofgWXRBLs8CO+8AI6rWU=",
+        "../../0.1.7/patches/add_cmake_configure_file.patch": "sha256-qge+NoLlQcrPkS5AR0TbJKkhE3FETgjuzvj9O0WqWwc=",
+        "module_dot_bazel.patch": "sha256-pNG5JBVEJ7XbzFNOvhFaoInidxjTPXt2yX1dR2gkpxQ="
+    },
+    "patch_strip": 0
+}

modules/qdldl/metadata.json

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