Use relative path in installed libraries

drake/bindings/python/pydrake/test/testCommonInstall.py

@@ -34,20 +34,12 @@ def testDrakeFindResourceOrThrowInInstall(self):
                 os.remove(element)
         self.assertEqual(os.listdir("."), [tmp_folder])
 
-        # Set the correct PYTHONPATH and (DY)LD_LIBRARY_PATH to use the
-        # correct pydrake module.
+        # Set the correct PYTHONPATH to use the correct pydrake module.
         env_python_path = "PYTHONPATH"
-        if sys.platform == 'darwin':
-            env_ld_library = "DYLD_LIBRARY_PATH"
-        else:
-            env_ld_library = "LD_LIBRARY_PATH"
         tool_env = dict(os.environ)
         tool_env[env_python_path] = os.path.abspath(
             os.path.join(tmp_folder, "lib", "python2.7", "site-packages")
         )
-        tool_env[env_ld_library] = os.path.abspath(
-            os.path.join(tmp_folder, "lib")
-        )
         data_folder = os.path.join(tmp_folder, "share", "drake", "drake")
         # Call python2 to force using python brew install. Calling python
         # system would result in a crash since pydrake was built against

setup/ubuntu/16.04/install_prereqs.sh

@@ -49,6 +49,7 @@ bash-completion
 binutils
 cmake
 cmake-curses-gui
+chrpath
 coinor-libipopt-dev
 diffstat
 doxygen

tools/install/install.py.in

@@ -3,15 +3,19 @@
 import argparse
 import filecmp
 import os
+import re
 import shutil
 import stat
 import sys
-from subprocess import check_output, check_call
+from subprocess import check_output, check_call, CalledProcessError
 
 subdirs = set()
 prefix = None
 libs = {}
 list_only = False
+# On linux, dynamic libraries may have their version number
+# as a suffix (e.g. my_lib.so.x.y.z).
+dylib_match = r"(.*\.so)(\.\d+)*$|(.*\.dylib)$"
 
 
 def needs_install(src, dst):
@@ -59,9 +63,9 @@ def install(src, dst):
         installed = True
     else:
         print("[Up to date] %s" % dst)
-
-    if dst.endswith('.so') or dst.endswith('.dylib'):
-        basename = os.path.basename(dst)
+    re_result = re.match(dylib_match, dst)
+    if re_result is not None:
+        basename = os.path.basename(re_result.group(0))
         # Check that dependency is only referenced once
         # in the library dictionary. If it is referenced multiple times,
         # we do not know which one to use, and fail fast.
@@ -72,36 +76,108 @@ def install(src, dst):
         libs[basename] = (dst_full, installed)
 
 
-def fix_library_rpaths():
+def fix_libraries_rpaths():
     # Only fix libraries that are installed now.
     fix_libs = [(k, libs[k][0]) for k in libs.keys() if libs[k][1]]
     for basename, dst_full in fix_libs:
         # Enable write permissions to allow modification.
         os.chmod(dst_full, stat.S_IRUSR | stat.S_IWUSR | stat.S_IXUSR |
-                 stat.S_IRGRP | stat.S_IXGRP | stat.S_IROTH | stat.S_IXOTH
-                 )
-        # Update library ID (remove relative path).
+                 stat.S_IRGRP | stat.S_IXGRP | stat.S_IROTH | stat.S_IXOTH)
+        if sys.platform == "darwin":
+            macos_fix_libraries_rpaths(basename, dst_full)
+        else:
+            linux_fix_libraries_rpaths(dst_full)
+
+
+def macos_fix_libraries_rpaths(basename, dst_full):
+    # Update library ID (remove relative path).
+    check_call(
+        ['install_name_tool', "-id", "@rpath/" + basename, dst_full]
+        )
+    # Check if library dependencies are specified with relative paths.
+    file_output = check_output(["otool", "-L", dst_full])
+    for line in file_output.splitlines():
+        # keep only file path, remove version information.
+        relative_path = line.split(' (')[0].strip()
+        # If path is relative, it needs to be replaced by absolute path.
+        if "@loader_path" not in relative_path:
+            continue
+        dep_basename = os.path.basename(relative_path)
+        # Look for the absolute path in the dictionary of libraries.
+        if dep_basename not in libs.keys():
+            continue
+        lib_dirname = os.path.dirname(dst_full)
+        diff_path = os.path.relpath(libs[dep_basename][0], lib_dirname)
         check_call(
-            ['install_name_tool', "-id", "@rpath/" + basename, dst_full]
+            ['install_name_tool',
+             "-change", relative_path,
+             os.path.join('@loader_path', diff_path),
+             dst_full]
             )
-        # Check if library dependencies are specified with relative paths.
-        file_output = check_output(["otool", "-L", dst_full])
-        for line in file_output.splitlines():
-            # keep only file path, remove version information.
-            relative_path = line.split(' (')[0].strip()
-            # If path is relative, it needs to be replaced by absolute path.
-            if "@loader_path" not in relative_path:
-                continue
-            dep_basename = os.path.basename(relative_path)
-            # Look for the absolute path in the dictionary of libraries.
-            if dep_basename not in libs.keys():
-                continue
+    # Remove RPATH values that contain $ORIGIN. These are from the build
+    # tree and are irrelevant in the install tree. RPATH is not necessary as
+    # relative or absolute path to each library is already known.
+    file_output = check_output(["otool", "-l", dst_full])
+    for line in file_output.splitlines():
+        split_line = line.strip().split(' ')
+        if len(split_line) >= 2 \
+                and split_line[0] == 'path' \
+                and split_line[1].startswith('$ORIGIN'):
             check_call(
-                ['install_name_tool',
-                 "-change", relative_path,
-                 libs[dep_basename][0],
-                 dst_full]
-                )
+                ['install_name_tool', "-delete_rpath", split_line[1], dst_full]
+            )
+
+
+def linux_fix_libraries_rpaths(dst_full):
+    # Check that library has an rpath or a runpath tag
+    try:
+        check_output(["chrpath", "-l", dst_full])
+    except OSError as ex:
+        if ex.errno == 2 and ex.strerror == "No such file or directory":
+            print("`chrpath` not found. Please run install_prereqs.sh.")
+        raise ex
+    except CalledProcessError as ex:
+        if ex.returncode == 2 and \
+                ex.output.strip().endswith('no rpath or runpath tag found.'):
+            # Cannot be modified with `chrpath`, so we skip it.
+            return
+        raise ex
+    # Check if library dependencies are found and not in install prefix.
+    # The found libraries outside of the install prefix are the system
+    # libraries and we do not worry about these. We only make sure that
+    # the installed libraries would be found.
+    file_output = check_output(["ldd", dst_full])
+    rpath = set()
+    for line in file_output.splitlines():
+        ldd_result = line.strip().split(' => ')
+        # If library found, then skip.
+        if len(ldd_result) < 2 or \
+                not (ldd_result[1] == "not found"
+                     or ldd_result[1].startswith(prefix)):
+            continue
+        re_result = re.match(dylib_match, ldd_result[0])
+        # Look for the absolute path in the dictionary of libraries using the
+        # library name without its possible version number.
+        soname, _, _ = re_result.groups()
+        if soname not in libs.keys():
+            continue
+        lib_dirname = os.path.dirname(dst_full)
+        diff_path = os.path.dirname(
+            os.path.relpath(libs[soname][0], lib_dirname)
+        )
+        rpath.add('$ORIGIN' + '/' + diff_path)
+    # Replace build tree RPATH with computed install tree RPATH. Build tree
+    # RPATH are automatically removed by this call. RPATH will contain the
+    # necessary relative paths to find the libraries that are needed. RPATH
+    # will typically be set to `$ORIGIN` or `$ORIGIN/../../..` .
+    if rpath:
+        str_rpath = ":".join(x for x in rpath)
+        check_output(
+            ['chrpath',
+             "-r", str_rpath,
+             dst_full]
+        )
+
 
 def create_java_launcher(filename, classpath, main_class):
     # In list-only mode, just display the filename, don't do any real work.
@@ -136,7 +212,9 @@ done
 java %s
 """ % (strclasspath, main_class)
         launcher_file.write(content)
-    os.chmod(filename, stat.S_IRUSR | stat.S_IRGRP | stat.S_IROTH | stat.S_IXUSR | stat.S_IXGRP | stat.S_IXOTH)
+    os.chmod(filename, stat.S_IRUSR | stat.S_IRGRP | stat.S_IROTH |
+             stat.S_IXUSR | stat.S_IXGRP | stat.S_IXOTH)
+
 
 def main(args):
     global prefix
@@ -166,9 +244,8 @@ def main(args):
     # Execute the install actions.
     <<actions>>
 
-    # On MacOS, library paths may need to be updated.
-    if sys.platform == "darwin":
-        fix_library_rpaths()
+    # Libraries paths may need to be updated.
+    fix_libraries_rpaths()
 
 
 if __name__ == "__main__":