multibody: Remove uses of spruce (#12161)

multibody/parsing/BUILD.bazel

@@ -51,7 +51,6 @@ drake_cc_library(
     ],
     deps = [
         "//common",
-        "@spruce",
         "@tinydir",
         "@tinyxml2",
     ],
@@ -80,7 +79,6 @@ drake_cc_library(
         "//math:geometric_transform",
         "//multibody/plant:coulomb_friction",
         "@sdformat",
-        "@spruce",
         "@tinyxml2",
     ],
 )
@@ -165,6 +163,7 @@ drake_cc_library(
     deps = [
         ":detail_sdf_parser",
         ":detail_urdf_parser",
+        "//common:filesystem",
     ],
 )
 
@@ -220,6 +219,7 @@ drake_cc_googletest(
     ],
     deps = [
         ":parser",
+        "//common:filesystem",
         "//common:find_resource",
         "//common/test_utilities",
     ],
@@ -234,9 +234,9 @@ drake_cc_googletest(
     ],
     deps = [
         ":detail_sdf_parser",
+        "//common:filesystem",
         "//common:find_resource",
         "//common/test_utilities",
-        "@spruce",
     ],
 )
 
@@ -250,11 +250,11 @@ drake_cc_googletest(
     ],
     deps = [
         ":detail_urdf_parser",
+        "//common:filesystem",
         "//common:find_resource",
         "//common/test_utilities",
         "//multibody/benchmarks/acrobot",
         "//multibody/benchmarks/acrobot:make_acrobot_plant",
-        "@spruce",
     ],
 )
 
@@ -287,6 +287,7 @@ drake_cc_googletest(
     ],
     deps = [
         ":package_map",
+        "//common:filesystem",
         "//common:find_resource",
     ],
 )
@@ -298,6 +299,7 @@ drake_cc_googletest(
     ],
     deps = [
         ":detail_misc",
+        "//common:filesystem",
         "//common/test_utilities",
     ],
 )

multibody/parsing/detail_path_utils.cc

@@ -4,10 +4,9 @@
 #include <string>
 #include <vector>
 
-#include <spruce.hh>
-
 #include "drake/common/drake_assert.h"
 #include "drake/common/drake_optional.h"
+#include "drake/common/filesystem.h"
 #include "drake/common/never_destroyed.h"
 #include "drake/common/text_logging.h"
 
@@ -34,19 +33,16 @@ string GetFullPath(const string& file_name) {
   if (IsAbsolutePath(result)) {
     // The specified file is already an absolute path. The following code
     // verifies that the file exists.
-    spruce::path path(file_name);
-    if (!path.isFile()) {
+    if (!filesystem::is_regular_file({file_name})) {
       throw std::runtime_error("drake::parsers::GetFullPath: ERROR: "
           "file_name \"" + file_name + "\" is not a file.");
     }
   } else {
     // The specified file is a relative path. The following code obtains the
     // full path and verifies that the file exists.
-    spruce::path path = spruce::dir::getcwd();
-    path.append(file_name);
-    if (path.isFile()) {
-      result = path.getStr();
-    } else {
+    result = (filesystem::current_path() /
+              filesystem::path(file_name)).lexically_normal().string();
+    if (!filesystem::is_regular_file({result})) {
       throw std::runtime_error("drake::parsers::GetFullPath: ERROR: "
           "file_name \"" + file_name + "\" is not a file or does not exist.");
     }
@@ -71,27 +67,26 @@ optional<string> GetPackagePath(
 
 string ResolveUri(const string& uri, const PackageMap& package_map,
                   const string& root_dir) {
-  spruce::path result;
+  filesystem::path result;
 
   // Parse the given URI into pieces.
   static const never_destroyed<std::regex> uri_matcher{
-    "^([a-z0-9+.-]+)://([^/]*)(/+.*)"
+    "^([a-z0-9+.-]+)://([^/]*)/+(.*)"
   };
   std::smatch match;
   if (std::regex_match(uri, match, uri_matcher.access())) {
     // The `uri` was actually a URI (not a bare filename).
     DRAKE_DEMAND(match.size() == 4);
     const auto& uri_scheme = match[1];
     const auto& uri_package = match[2];
-    const auto& uri_path = match[3];  // This includes the leading '/' (if any).
+    const auto& uri_path = match[3];
     if (uri_scheme == "file") {
-      result = uri_path.str();
+      result = "/" + uri_path.str();
     } else if ((uri_scheme == "model") || (uri_scheme == "package")) {
       optional<string> package_path =
           GetPackagePath(uri_package, package_map);
       if (!package_path) { return {}; }
-      result = spruce::path(*package_path);
-      result.append(uri_path.str());
+      result = filesystem::path(*package_path) / std::string(uri_path);
     } else {
       drake::log()->warn(
           "URI '{}' specifies an unsupported scheme; supported schemes are "
@@ -108,18 +103,16 @@ string ResolveUri(const string& uri, const PackageMap& package_map,
       result = root_dir;
       result.append(filename);
     } else {
-      result = spruce::dir::getcwd();
-      result.append(root_dir);
-      result.append(filename);
+      result = filesystem::current_path() / root_dir / filename;
     }
   }
 
-  if (!result.exists()) {
+  if (!filesystem::exists(result)) {
     drake::log()->warn("URI '{}' resolved to '{}' which could not be found.",
-                       uri, result.getStr());
+                       uri, result.string());
     return {};
   }
-  return result.getStr();
+  return result.string();
 }
 
 }  // namespace internal

multibody/parsing/package_map.cc

@@ -2,17 +2,19 @@
 
 #include <algorithm>
 #include <cstdlib>
+#include <iostream>
 #include <sstream>
 #include <utility>
 #include <vector>
 
-#include <spruce.hh>
 #include <tinydir.h>
 #include <tinyxml2.h>
 
 #include "drake/common/drake_assert.h"
+#include "drake/common/drake_optional.h"
 #include "drake/common/drake_path.h"
 #include "drake/common/drake_throw.h"
+#include "drake/common/filesystem.h"
 #include "drake/common/text_logging.h"
 
 namespace drake {
@@ -32,7 +34,7 @@ PackageMap::PackageMap() {}
 
 void PackageMap::Add(const string& package_name, const string& package_path) {
   DRAKE_THROW_UNLESS(map_.count(package_name) == 0);
-  if (!spruce::path(package_path).exists()) {
+  if (!filesystem::is_directory(package_path)) {
     throw std::runtime_error(
         "Could not add package://" + package_name + " to the search path "
         "because directory " + package_path + " does not exist");
@@ -68,18 +70,20 @@ void PackageMap::PopulateFromEnvironment(const string& environment_variable) {
 
 namespace {
 
-// Returns true if @p directory has a package.xml file.
-bool HasPackageXmlFile(const string& directory) {
+// Returns the package.xml file in the given directory, if any.
+optional<filesystem::path> GetPackageXmlFile(const string& directory) {
   DRAKE_DEMAND(!directory.empty());
-  spruce::path spruce_path(directory);
-  spruce_path.append("package.xml");
-  return spruce_path.exists();
+  filesystem::path filename = filesystem::path(directory) / "package.xml";
+  if (filesystem::is_regular_file(filename)) {
+    return filename;
+  }
+  return nullopt;
 }
 
 // Returns the parent directory of @p directory.
 string GetParentDirectory(const string& directory) {
   DRAKE_DEMAND(!directory.empty());
-  return spruce::path(directory).root();
+  return filesystem::path(directory).parent_path().string();
 }
 
 // Parses the package.xml file specified by package_xml_file. Finds and returns
@@ -141,10 +145,8 @@ void PackageMap::PopulateUpstreamToDrakeHelper(
   }
 
   // If there is a new package.xml file, then add it.
-  if (HasPackageXmlFile(directory)) {
-    spruce::path spruce_path(directory);
-    spruce_path.append("package.xml");
-    const string package_name = GetPackageName(spruce_path.getStr());
+  if (auto filename = GetPackageXmlFile(directory)) {
+    const string package_name = GetPackageName(filename->string());
     AddPackageIfNew(package_name, directory);
   }
 
@@ -157,16 +159,15 @@ void PackageMap::PopulateUpstreamToDrake(const string& model_file) {
   DRAKE_DEMAND(!model_file.empty());
 
   // Verify that the model_file names an URDF or SDF file.
-  spruce::path spruce_path(model_file);
-  string extension = spruce_path.extension();
+  string extension = filesystem::path(model_file).extension().string();
   std::transform(extension.begin(), extension.end(), extension.begin(),
                  ::tolower);
   if (extension != ".urdf" && extension != ".sdf") {
     throw std::runtime_error(fmt::format(
         "The file type '{}' is not supported for '{}'",
         extension, model_file));
   }
-  const string model_dir = spruce_path.root();
+  const string model_dir = filesystem::path(model_file).parent_path();
 
   // Bail out if the model file is not part of Drake.
   const optional<string> maybe_drake_path = MaybeGetDrakePath();
@@ -182,7 +183,7 @@ void PackageMap::PopulateUpstreamToDrake(const string& model_file) {
   }
 
   // Search the directory containing the model_file and "upstream".
-  PopulateUpstreamToDrakeHelper(spruce_path.root(), drake_path);
+  PopulateUpstreamToDrakeHelper(model_dir, drake_path);
 }
 
 void PackageMap::CrawlForPackages(const string& path) {
@@ -217,9 +218,9 @@ void PackageMap::CrawlForPackages(const string& path) {
         CrawlForPackages(file.path);
       } else if (file.name == target_filename) {
         const string package_name = GetPackageName(file.path);
-        spruce::path spruce_path(file.path);
-        const string package_path = spruce_path.root().append("/");
-        AddPackageIfNew(package_name, package_path);
+        const string package_path =
+            filesystem::path(file.path).parent_path().string();
+        AddPackageIfNew(package_name, package_path + "/");
       }
       tinydir_next(&dir);
     }

multibody/parsing/parser.cc

@@ -1,7 +1,6 @@
 #include "drake/multibody/parsing/parser.h"
 
-#include <spruce.hh>
-
+#include "drake/common/filesystem.h"
 #include "drake/multibody/parsing/detail_sdf_parser.h"
 #include "drake/multibody/parsing/detail_urdf_parser.h"
 
@@ -22,7 +21,7 @@ Parser::Parser(
 namespace {
 enum class FileType { kSdf, kUrdf };
 FileType DetermineFileType(const std::string& file_name) {
-  const std::string ext = spruce::path(file_name).extension();
+  const std::string ext = filesystem::path(file_name).extension().string();
   if ((ext == ".urdf") || (ext == ".URDF")) {
     return FileType::kUrdf;
   }

multibody/parsing/test/detail_path_utils_test.cc

@@ -4,8 +4,8 @@
 #include <string>
 
 #include <gtest/gtest.h>
-#include <spruce.hh>
 
+#include "drake/common/filesystem.h"
 #include "drake/common/find_resource.h"
 
 using std::string;
@@ -28,8 +28,7 @@ GTEST_TEST(ParserPathUtilsTest, TestGetFullPath_Relative) {
   ASSERT_NO_THROW(full_path = GetFullPath(relative_path));
   ASSERT_TRUE(!full_path.empty());
   EXPECT_EQ(full_path[0], '/');
-  spruce::path spruce_full_path(full_path);
-  EXPECT_TRUE(spruce_full_path.exists());
+  EXPECT_TRUE(filesystem::exists({full_path}));
 
   // Absolute path unchanged.
   string full_path_idempotent;

multibody/parsing/test/detail_sdf_parser_test.cc

@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 #include <sdf/sdf.hh>
-#include <spruce.hh>
 
+#include "drake/common/filesystem.h"
 #include "drake/common/find_resource.h"
 #include "drake/common/temp_directory.h"
 #include "drake/common/test_utilities/eigen_matrix_compare.h"
@@ -43,13 +43,13 @@ GTEST_TEST(MultibodyPlantSdfParserTest, PackageMapSpecified) {
 
   const std::string full_sdf_filename = FindResourceOrThrow(
       "drake/multibody/parsing/test/box_package/sdfs/box.sdf");
-  spruce::path package_path = full_sdf_filename;
-  package_path = package_path.root();
-  package_path = package_path.root();
+  filesystem::path package_path = full_sdf_filename;
+  package_path = package_path.parent_path();
+  package_path = package_path.parent_path();
 
   // Construct the PackageMap.
   PackageMap package_map;
-  package_map.PopulateFromFolder(package_path.getStr());
+  package_map.PopulateFromFolder(package_path.string());
 
   // Read in the SDF file.
   AddModelFromSdfFile(full_sdf_filename, "", package_map, &plant, &scene_graph);
@@ -222,7 +222,7 @@ GTEST_TEST(SdfParser, IncludeTags) {
   const std::string full_name = FindResourceOrThrow(
       "drake/multibody/parsing/test/sdf_parser_test/"
       "include_models.sdf");
-  sdf::addURIPath("model://", spruce::path(full_name).root());
+  sdf::addURIPath("model://", filesystem::path(full_name).parent_path());
   MultibodyPlant<double> plant;
 
   // We start with the world and default model instances.

multibody/parsing/test/detail_urdf_parser_test.cc

@@ -3,9 +3,9 @@
 #include <limits>
 
 #include <gtest/gtest.h>
-#include <spruce.hh>
 
 #include "drake/common/eigen_types.h"
+#include "drake/common/filesystem.h"
 #include "drake/common/find_resource.h"
 #include "drake/common/test_utilities/eigen_matrix_compare.h"
 #include "drake/multibody/parsing/detail_path_utils.h"
@@ -29,13 +29,13 @@ GTEST_TEST(MultibodyPlantUrdfParserTest, PackageMapSpecified) {
 
   const std::string full_urdf_filename = FindResourceOrThrow(
       "drake/multibody/parsing/test/box_package/urdfs/box.urdf");
-  spruce::path package_path = full_urdf_filename;
-  package_path = package_path.root();
-  package_path = package_path.root();
+  filesystem::path package_path = full_urdf_filename;
+  package_path = package_path.parent_path();
+  package_path = package_path.parent_path();
 
   // Construct the PackageMap.
   PackageMap package_map;
-  package_map.PopulateFromFolder(package_path.getStr());
+  package_map.PopulateFromFolder(package_path.string());
 
   // Read in the URDF file.
   AddModelFromUrdfFile(full_urdf_filename, "", package_map, &plant,