New bazel macro to test run installed drake.

`install_test()` is a wrapper macro that creates a Python script that is run
during the testing phase. The Python script installs `drake` and runs the
targets that are listed in `install_tests` in install rules.
The Python script that is created will allow to test multiple targets in
the install tree without having to install drake multiple times.
`install_test()` should be called only once, in `//:*`.
All the install tests that have been created in all the `install()` commands
in the source tree will be integrated in the Python script that is generated.
The targets can either be executables that are installed, or any executable
or scripts that is designed to test drake features in the install tree.
The Python install_test_helper file (`tools/install/install_test_helper.py`)
has been improved to easily create Python scripts that run commands from the
install directory. This is convenient when trying to test an executable in
the install tree that is run with parameters, or an executable that needs to
be killed because it never stops running.

BUILD.bazel

@@ -3,7 +3,7 @@
 # This file is named BUILD.bazel instead of the more typical BUILD, so that on
 # OSX it won't conflict with a build artifacts directory named "build".
 
-load("@drake//tools/install:install.bzl", "install")
+load("@drake//tools/install:install.bzl", "install", "install_test")
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
 package(
@@ -40,8 +40,11 @@ py_library(
     srcs = ["__init__.py"],
 )
 
+_INSTALL_TEST_COMMANDS = "install_test_commands.py"
+
 install(
     name = "install",
+    install_tests_script = _INSTALL_TEST_COMMANDS,
     docs = ["LICENSE.TXT"],
     deps = [
         "//automotive/models:install_data",
@@ -57,4 +60,10 @@ install(
     ],
 )
 
+install_test(
+    name = "install_test",
+    src = _INSTALL_TEST_COMMANDS,
+    data = [":install"],
+)
+
 add_lint_tests()

bindings/pydrake/BUILD.bazel

@@ -144,6 +144,10 @@ drake_py_library(
 
 install(
     name = "install",
+    install_tests = [
+        ":test/all_install_test.py",
+        ":test/common_install_test.py",
+    ],
     targets = PY_LIBRARIES + [":all_py"],
     py_dest = PACKAGE_INFO.py_dest,
     visibility = ["//visibility:public"],
@@ -156,17 +160,6 @@ drake_py_test(
     deps = [":all_py"],
 )
 
-drake_py_test(
-    name = "all_install_test",
-    size = "medium",
-    # Increase the timeout so that debug builds are successful.
-    timeout = "long",
-    data = ["//:install"],
-    deps = [
-        "//tools/install:install_test_helper",
-    ],
-)
-
 # Test ODR (One Definition Rule).
 drake_pybind_library(
     name = "odr_test_module_py",
@@ -199,21 +192,6 @@ drake_py_test(
     deps = [":common_py"],
 )
 
-# `//:install` is run in this test to verify that once installed
-# pydrake still works. This test is implemented in a separate file from
-# common_test to be able to remove files in the sandbox without
-# interfering with other tests.
-drake_py_test(
-    name = "common_install_test",
-    size = "medium",
-    # Increase the timeout so that debug builds are successful.
-    timeout = "long",
-    data = ["//:install"],
-    deps = [
-        "//tools/install:install_test_helper",
-    ],
-)
-
 drake_py_test(
     name = "forward_diff_test",
     size = "small",
@@ -261,4 +239,9 @@ drake_py_test(
     ],
 )
 
-add_lint_tests()
+add_lint_tests(
+    python_lint_extra_srcs = [
+        ":test/all_install_test.py",
+        ":test/common_install_test.py",
+    ],
+)

bindings/pydrake/test/all_install_test.py

@@ -1,9 +1,9 @@
+#!/usr/bin/env python
 """
 Ensures we can import `pydrake.all` from install.
 """
 
 import os
-import subprocess
 import sys
 import unittest
 
@@ -12,19 +12,20 @@
 
 class TestAllInstall(unittest.TestCase):
     def test_install(self):
-        # Install into a temporary directory.
-        tmp_folder = "tmp"
-        result = install_test_helper.install(tmp_folder, ['lib'])
-        self.assertEqual(None, result)
+        # Get install directory.
+        install_dir = install_test_helper.get_install_dir()
         # Override PYTHONPATH to only use the installed `pydrake` module.
         env_python_path = "PYTHONPATH"
         tool_env = dict(os.environ)
         tool_env[env_python_path] = os.path.abspath(
-            os.path.join(tmp_folder, "lib", "python2.7", "site-packages")
+            os.path.join(install_dir, "lib", "python2.7", "site-packages")
         )
         # Ensure we can import all user-visible modules.
         script = "import pydrake.all"
-        subprocess.check_call([sys.executable, "-c", script], env=tool_env)
+        install_test_helper.check_call(
+            [install_test_helper.get_python_executable(), "-c", script],
+            env=tool_env
+        )
 
 
 if __name__ == '__main__':

bindings/pydrake/test/common_install_test.py

@@ -1,42 +1,32 @@
-import os
-import shutil
-import subprocess
-import unittest
-import sys
+#!/usr/bin/env python
 
+import os
 import install_test_helper
+import unittest
 
 
 class TestCommonInstall(unittest.TestCase):
     def testDrakeFindResourceOrThrowInInstall(self):
-        # Install into a temporary directory. The temporary directory does not
-        # need to be removed as bazel tests are run in a scratch space.
-        tmp_folder = "tmp"
-        result = install_test_helper.install(tmp_folder, ['lib', 'share'])
-        self.assertEqual(None, result)
         # Override PYTHONPATH to only use the installed `pydrake` module.
         env_python_path = "PYTHONPATH"
         tool_env = dict(os.environ)
         tool_env[env_python_path] = os.path.abspath(
-            os.path.join(tmp_folder, "lib", "python2.7", "site-packages")
+            os.path.join(install_test_helper.get_install_dir(),
+                         "lib", "python2.7", "site-packages")
         )
-        data_folder = os.path.join(tmp_folder, "share", "drake")
-        # Call the same Python binary. On Mac, calling the system `python`
-        # would result in a crash since pydrake was built against brew python.
-        # On Linux, this will still work and force using
-        # python2 which should be a link to the actual executable.
+        data_folder = os.path.join(install_test_helper.get_install_dir(),
+                                   "share", "drake")
         # Calling `pydrake.getDrakePath()` twice verifies that there
         # is no memory allocation issue in the C code.
-        output_path = subprocess.check_output(
-            [sys.executable,
+        output_path = install_test_helper.check_output(
+            [install_test_helper.get_python_executable(),
              "-c", "import pydrake; print(pydrake.getDrakePath());\
              import pydrake; print(pydrake.getDrakePath())"
              ],
-            cwd='/',  # Defeat the "search in parent folders" heuristic.
             env=tool_env,
             ).strip()
         found_install_path = (data_folder in output_path)
-        self.assertEqual(found_install_path, True)
+        self.assertTrue(found_install_path)
 
 
 if __name__ == '__main__':

common/BUILD.bazel

@@ -419,6 +419,7 @@ drake_py_binary(
 
 install(
     name = "install",
+    install_tests = [":test/resource_tool_installed_test.py"],
     targets = [":resource_tool"],
     # TODO(jwnimmer-tri) The install rule should offer more specific options
     # for programs not in bin/, and including the workspace and/or package name
@@ -989,17 +990,15 @@ drake_py_test(
     ],
 )
 
-drake_py_test(
-    name = "resource_tool_installed_test",
-    srcs = ["test/resource_tool_installed_test.py"],
-    deps = ["//tools/install:install_test_helper"],
-)
-
 # TODO(jwnimmer-tri) These tests are currently missing...
 # - drake_assert_test in fancy variants
 # - drake_assert_test_compile in fancy variants
 # - text_logging_test in fancy variants
 # - drake_deprecated_test in fancy variants
 # - cpplint_wrapper_test.py
 
-add_lint_tests()
+add_lint_tests(
+    python_lint_extra_srcs = [
+        ":test/resource_tool_installed_test.py",
+    ],
+)

common/test/resource_tool_installed_test.py

@@ -1,30 +1,38 @@
+#!/usr/bin/env python
+
 """Performs tests for resource_tool as used _after_ installation.
 """
 
 import os
-import subprocess
 import unittest
 import install_test_helper
 
 
 class TestResourceTool(unittest.TestCase):
     def test_install_and_run(self):
-        # Install into a temporary directory.
-        result = install_test_helper.install("tmp", ["libexec"])
-        self.assertEqual(None, result)
-
+        install_dir = install_test_helper.get_install_dir()
         # Create a resource in the temporary directory.
-        os.makedirs("tmp/share/drake/common/test")
-        with open("tmp/share/drake/common/test/tmp_resource", "w") as f:
-            f.write("tmp_resource")
+        tmp_dir = install_test_helper.create_temporary_dir()
 
-        # Verify un-installed copy was removed, so we _know_ it won't be used.
-        self.assertEqual(os.listdir(os.getcwd()), ["tmp"])
+        resource_folder = os.path.join(tmp_dir, "share/drake/")
+        test_folder = os.path.join(resource_folder, "common/test")
+        os.makedirs(test_folder)
+        # Create sentinel file.
+        sentinel = os.path.join(resource_folder,
+                                ".drake-find_resource-sentinel")
+        with open(sentinel, "w") as f:
+            f.write("")
+        # Create resource file.
+        resource = os.path.join(test_folder, "tmp_resource")
+        resource_data = "tmp_resource"
+        with open(resource, "w") as f:
+            f.write(resource_data)
 
         # Cross-check the resource root environment variable name.
         env_name = "DRAKE_RESOURCE_ROOT"
-        resource_tool = "tmp/share/drake/common/resource_tool"
-        output_name = subprocess.check_output(
+        resource_tool = os.path.join(
+            install_dir, "share/drake/common/resource_tool")
+        output_name = install_test_helper.check_output(
             [resource_tool,
              "--print_resource_root_environment_variable_name",
              ],
@@ -33,28 +41,28 @@ def test_install_and_run(self):
 
         # Use the installed resource_tool to find a resource.
         tool_env = dict(os.environ)
-        tool_env[env_name] = "tmp/share"
-        absolute_path = subprocess.check_output(
+        tool_env[env_name] = os.path.join(tmp_dir, "share")
+        absolute_path = install_test_helper.check_output(
             [resource_tool,
              "--print_resource_path",
              "drake/common/test/tmp_resource",
              ],
             env=tool_env,
             ).strip()
         with open(absolute_path, 'r') as data:
-            self.assertEqual(data.read(), "tmp_resource")
+            self.assertEqual(data.read(), resource_data)
 
         # Remove environment variable.
-        absolute_path = subprocess.check_output(
+        absolute_path = install_test_helper.check_output(
             [resource_tool,
              "--print_resource_path",
              "drake/common/test/tmp_resource",
              "--add_resource_search_path",
-             "tmp/share",
+             os.path.join(tmp_dir, "share"),
              ],
             ).strip()
         with open(absolute_path, 'r') as data:
-            self.assertEqual(data.read(), "tmp_resource")
+            self.assertEqual(data.read(), resource_data)
 
 
 if __name__ == '__main__':

examples/kuka_iiwa_arm/BUILD.bazel

@@ -244,24 +244,14 @@ sh_test(
     tags = ["no_kcov"],
 )
 
-# `//:install` is run in this test to verify that once installed
-# these examples still work. This test fails when bazel is run with
-# `no_everything` because `libgurobi70.so` is not found [Issue #7283].
-drake_py_test(
-    name = "install_test",
-    size = "medium",
-    # Increase the timeout so that debug builds are successful.
-    timeout = "long",
-    srcs = ["test/install_test.py"],
-    data = ["//:install"],
-    main = "test/install_test.py",
-    tags = ["no_everything"],
-    deps = ["//tools/install:install_test_helper"],
-)
-
 # This examples needs to be install for external projects such as Spartan.
 install(
     name = "install",
+    install_tests = [
+        ":test/iiwa_wsg_simulation_installed_test.py",
+        ":test/kuka_plan_runner_installed_test.py",
+        ":test/kuka_simulation_installed_test.py",
+    ],
     targets = [
         ":iiwa_wsg_simulation",
         ":kuka_plan_runner",
@@ -291,19 +281,10 @@ install(
     ],
 )
 
-# Run the installed flavor of the kuka simulation, to make sure it can locate
-# its resources, etc.  TODO(jwnimmer-tri) Refactor installed-test phrasing to
-# be more compact, convenient, and efficient such as #7774 proposes.
-drake_py_test(
-    name = "kuka_simulation_installed_test",
-    size = "small",
-    timeout = "long",
-    srcs = ["test/kuka_simulation_installed_test.py"],
-    data = ["//:install"],
-    main = "test/kuka_simulation_installed_test.py",
-    deps = [
-        "//tools/install:install_test_helper",
+add_lint_tests(
+    python_lint_extra_srcs = [
+        ":test/iiwa_wsg_simulation_installed_test.py",
+        ":test/kuka_plan_runner_installed_test.py",
+        ":test/kuka_simulation_installed_test.py",
     ],
 )
-
-add_lint_tests()

examples/kuka_iiwa_arm/test/iiwa_wsg_simulation_installed_test.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+
+import os
+import shutil
+import unittest
+import sys
+import install_test_helper
+
+
+class TestIiwaWsgSimulation(unittest.TestCase):
+    def test_install(self):
+        # Get install directory.
+        install_dir = install_test_helper.get_install_dir()
+        # Make sure the simulation can run without error.  We set cwd="/" to
+        # defeat the "search in parent folders" heuristic, so that the "use
+        # libdrake.so relative paths" must be successful.
+        simulation = os.path.join(
+            install_dir,
+            "share/drake/examples/kuka_iiwa_arm/iiwa_wsg_simulation")
+        self.assertTrue(os.path.exists(simulation), "Can't find " + simulation)
+        install_test_helper.check_call([simulation, "--simulation_sec=0.01"])
+
+
+if __name__ == '__main__':
+    unittest.main()

examples/kuka_iiwa_arm/test/kuka_plan_runner_installed_test.py

@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+
+import unittest
+import install_test_helper
+
+
+class TestKukaSimulation(unittest.TestCase):
+    def test_install(self):
+        install_test_helper.run_and_kill(
+            ['share/drake/examples/kuka_iiwa_arm/kuka_plan_runner'])
+
+
+if __name__ == '__main__':
+    unittest.main()