can't compile with --config=apple_debug

[RussTedrake]

What happened?

% bazel build --config=apple_debug //solvers/...

fails with

ERROR: /private/var/tmp/_bazel_russt/9c100c86c1cc4c543d01c45f7a63d5c6/external/nlopt_internal/BUILD.bazel:197:11: Compiling src/algs/stogo/stogo.cc failed: undeclared inclusion(s) in rule '@nlopt_internal//:stogo':
this rule is missing dependency declarations for the following files included by 'src/algs/stogo/stogo.cc':
  'external/nlopt_internal/src/algs/stogo/global.h'
  'external/nlopt_internal/src/algs/stogo/tools.h'
  'external/nlopt_internal/src/algs/stogo/linalg.h'
...
ERROR: /private/var/tmp/_bazel_russt/9c100c86c1cc4c543d01c45f7a63d5c6/external/nlopt_internal/BUILD.bazel:246:11: Compiling src/algs/ags/ags.cc failed: undeclared inclusion(s) in rule '@nlopt_internal//:ags':
this rule is missing dependency declarations for the following files included by 'src/algs/ags/ags.cc':
  'external/nlopt_internal/src/algs/ags/solver.hpp'
  'external/nlopt_internal/src/algs/ags/data_types.hpp'
  'external/nlopt_internal/src/algs/ags/evolvent.hpp'
  'external/nlopt_internal/src/algs/ags/local_optimizer.hpp'
...

bazel build --config=apple_debug //multibody/...

throws those errors and also a bunch from conex

bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:6:11: error: unknown type name 'TriangularMatrixWorkspace'; did you mean '::conex::TriangularMatrixWorkspace'?
using T = TriangularMatrixWorkspace;
          ^~~~~~~~~~~~~~~~~~~~~~~~~
          ::conex::TriangularMatrixWorkspace
external/conex_internal/conex/triangular_matrix_workspace.h:14:8: note: '::conex::TriangularMatrixWorkspace' declared here
struct TriangularMatrixWorkspace {
       ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:38:1: error: use of undeclared identifier 'TriangularMatrixWorkspace'; did you mean '::conex::TriangularMatrixWorkspace'?
TriangularMatrixWorkspace::TriangularMatrixWorkspace(
^~~~~~~~~~~~~~~~~~~~~~~~~
::conex::TriangularMatrixWorkspace
external/conex_internal/conex/triangular_matrix_workspace.h:14:8: note: '::conex::TriangularMatrixWorkspace' declared here
struct TriangularMatrixWorkspace {
       ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:38:28: error: cannot define or redeclare 'TriangularMatrixWorkspace' here because namespace 'conex' does not enclose namespace 'TriangularMatrixWorkspace'
TriangularMatrixWorkspace::TriangularMatrixWorkspace(
~~~~~~~~~~~~~~~~~~~~~~~~~~~^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:40:22: error: use of undeclared identifier 'supernode_size_'
    : supernode_size(supernode_size_) {
                     ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:41:3: error: use of undeclared identifier 'N'
  N = std::accumulate(supernode_size.begin(), supernode_size.end(), 0);
  ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:41:23: error: use of undeclared identifier 'supernode_size'
  N = std::accumulate(supernode_size.begin(), supernode_size.end(), 0);
                      ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:41:47: error: use of undeclared identifier 'supernode_size'
  N = std::accumulate(supernode_size.begin(), supernode_size.end(), 0);
                                              ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:42:3: error: use of undeclared identifier 'variable_to_supernode_'
  variable_to_supernode_.resize(N);
  ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:42:33: error: use of undeclared identifier 'N'
  variable_to_supernode_.resize(N);
                                ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:43:3: error: use of undeclared identifier 'variable_to_supernode_position_'
  variable_to_supernode_position_.resize(N);
  ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:43:42: error: use of undeclared identifier 'N'
  variable_to_supernode_position_.resize(N);
                                         ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:55:3: error: use of undeclared identifier 'snodes'
  snodes.resize(path_.size());
  ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:55:17: error: use of undeclared identifier 'path_'
  snodes.resize(path_.size());
                ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:56:19: error: use of undeclared identifier 'snodes'
  for (auto& si : snodes) {
                  ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:57:15: error: use of undeclared identifier 'supernode_size'
    si.resize(supernode_size.at(cnt));
              ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:58:25: error: use of undeclared identifier 'supernode_size'
    for (int i = 0; i < supernode_size.at(cnt); i++) {
                        ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:59:18: error: use of undeclared identifier 'N'
      if (var >= N) {
                 ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:62:18: error: use of undeclared identifier 'path_'
      si.at(i) = path_.at(cnt).at(i);
                 ^
bazel-out/darwin_arm64-dbg/bin/external/conex_internal/conex/drake_vendor/conex/triangular_matrix_workspace.cc:63:7: error: use of undeclared identifier 'variable_to_supernode_'
      variable_to_supernode_[var] = cnt;
      ^
fatal error: too many errors emitted, stopping now [-ferror-limit=]

cc @frankpermenter

Version

master

What operating system are you using?

macOS 14 (Sonoma)

What installation option are you using?

compiled from source code using Bazel

Relevant log output

russt@TRI-GQ16T2RQ2R drake % brew config
HOMEBREW_VERSION: 4.2.9
ORIGIN: https://github.com/Homebrew/brew
HEAD: e5fefd73cd97cd36ae3af29551f529ae59b333d6
Last commit: 7 days ago
Core tap JSON: 25 Feb 21:15 UTC
Core cask tap JSON: 25 Feb 21:15 UTC
HOMEBREW_PREFIX: /opt/homebrew
HOMEBREW_CASK_OPTS: []
HOMEBREW_EDITOR: emacs
HOMEBREW_MAKE_JOBS: 12
Homebrew Ruby: 3.1.4 => /opt/homebrew/Library/Homebrew/vendor/portable-ruby/3.1.4/bin/ruby
CPU: dodeca-core 64-bit arm_blizzard_avalanche
Clang: 15.0.0 build 1500
Git: 2.39.3 => /Applications/Xcode.app/Contents/Developer/usr/bin/git
Curl: 8.4.0 => /usr/bin/curl
macOS: 14.3.1-arm64
CLT: 15.1.0.0.1.1700200546
Xcode: 15.2
Rosetta 2: false

[jwnimmer-tri]

Most likely, these two lines are the proximate cause of the error message:

https://github.com/RobotLocomotion/drake/blob/efa53019f71c18c5a714200612fac475a0910f7b/tools/cc_toolchain/bazel.rc#L19-L20

Those two settings are (in modern times) particularly problematic. I guess they were less problematic 5 years ago. I think for them to work correctly, you need to do the "apple debug" in a completely fresh checkout, not re-use an existing build. (Or equivalently, bazel clean --expunge first.)

Long term, my goal would be to not have --config=apple_debug at all. The question would be if we just do --compilation_mode=dbg (aka -c dbg) on its own (which is the same as we do on Ubuntu), does lldb debugging still work?

Unfortunately all of the TRI macs are out of service at the moment, so I can't investigate more.

There are some google hits on debugging with dSYM and bazel. If the plain -c dbg doesn't get us what we need, maybe there are some internet tips that would get it working.