ardupilot/Tools/autotest/build-with-disabled-feature...

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#!/usr/bin/env python
from __future__ import print_function
'''
Build ArduPilot with various build-time options enabled or disabled
Usage is straight forward; invoke this script from the root directory
of an ArduPilot checkout:
pbarker@bluebottle:~/rc/ardupilot(build-with-disabled-features)$ ./Tools/autotest/build-with-disabled-features.py
BWFD: Building
Running: ("/home/pbarker/rc/ardupilot/Tools/autotest/autotest.py" "build.ArduCopter") in (.)
lckfile='/home/pbarker/rc/buildlogs/autotest.lck'
.
.
.
>>>> PASSED STEP: build.ArduCopter at Thu Feb 22 09:46:43 2018
check step: build.ArduCopter
BWFD: ADVANCED_FAILSAFE OK
BWFD: Successes: ['MOUNT', 'AUTOTUNE_ENABLED', 'AP_FENCE_ENABLED', 'CAMERA', 'RANGEFINDER_ENABLED', 'PROXIMITY_ENABLED', 'AC_RALLY', 'AC_AVOID_ENABLED', 'PARACHUTE', 'NAV_GUIDED', 'OPTFLOW', 'VISUAL_ODOMETRY_ENABLED', 'ADSB_ENABLED', 'PRECISION_LANDING', 'SPRAYER', 'WINCH_ENABLED', 'ADVANCED_FAILSAFE']
BWFD: Failures: ['LOGGING_ENABLED']
pbarker@bluebottle:~/rc/ardupilot(build-with-disabled-features)$ q
AP_FLAKE8_CLEAN
''' # noqa
import re
import shutil
import subprocess
import sys
from pysim import util
class Builder():
def __init__(self, spec, autotest=False, board=None):
self.config = spec["config"]
self.autotest_build = spec["autotest_target"]
self.target_binary = spec["target_binary"]
if "blacklist_options" in spec:
self.blacklist_options = spec["blacklist_options"]
else:
self.blacklist_options = []
# list other features that have to be disabled when a feature
# is disabled (recursion not done; be exhaustive):
self.reverse_deps = spec["reverse-deps"]
self.autotest = autotest
self.board = board
def description(self):
if self.autotest:
return self.autotest_build
if self.target_binary:
return "%s:%s" % (self.board, self.target_binary)
print("Bad config")
sys.exit(1)
def reverse_deps_for_var(self, var):
return self.reverse_deps.get(var, [])
def progress(self, string):
print("BWFD: %s" % string)
def get_config_variables(self):
ret = []
r = (r' *# *define +([A-Z_]+)\s+'
'(ENABLED|DISABLED|!HAL_MINIMIZE_FEATURES)')
with open(util.reltopdir(self.config)) as fd:
for line in fd:
match = re.match(r, line)
if match is None:
continue
if match.group(1) in ("ENABLE", "DISABLE",
"!HAL_MINIMIZE_FEATURES"):
continue
if match.group(1) in self.blacklist_options:
print("Skipping (%s)" % match.group(1))
continue
ret.append((match.group(1), match.group(2)))
return set(ret)
def disable_option_in_config(self, var):
tmpfile = util.reltopdir(self.config) + ".tmp"
shutil.move(self.config, tmpfile)
with open(self.config, 'w+') as out_fd:
with open(util.reltopdir(tmpfile)) as fd:
did_enable = False
for line in fd:
regex = r' *# *define +%s\s+(ENABLED|DISABLED|!HAL_MINIMIZE_FEATURES)' % (var[0],)
match = re.match(regex, line)
if match is not None:
if (match.group(1) in ["ENABLED",
"!HAL_MINIMIZE_FEATURES"]):
fnoo = "DISABLED"
else:
fnoo = "ENABLED"
did_enable = True
line = "#define %s %s\n" % (var[0], fnoo)
out_fd.write(line)
# turn dependencies on or off:
tmpfile = util.reltopdir(self.config) + ".tmp-deps"
shutil.move(self.config, tmpfile)
with open(self.config, 'w+') as out_fd:
with open(util.reltopdir(tmpfile)) as fd:
for line in fd:
things_to_toggle = self.reverse_deps_for_var(var[0])
for thing in things_to_toggle:
regex = r' *# *define +%s\s+(ENABLED|DISABLED|!HAL_MINIMIZE_FEATURES)' % thing
match = re.match(regex, line)
if match is not None:
if did_enable:
fnoo = "ENABLED"
else:
fnoo = "DISABLED"
line = "#define %s %s\n" % (thing, fnoo)
out_fd.write(line)
def backup_config_filepath(self):
return util.reltopdir(self.config) + ".backup"
def backup_config(self):
shutil.copy(self.config, self.backup_config_filepath())
def restore_config(self):
shutil.copy(self.backup_config_filepath(), self.config)
def build_works(self):
self.progress("Building")
if self.autotest:
return self.build_works_autotest()
try:
ret = util.run_cmd(["./waf", "configure", "--board", self.board])
except subprocess.CalledProcessError:
return False
if ret != 0:
return False
try:
ret = util.run_cmd(["./waf", "build", "--target", self.target_binary])
except subprocess.CalledProcessError:
return False
if ret != 0:
return False
return True
def build_works_autotest(self):
autotest = util.reltopdir("Tools/autotest/autotest.py")
try:
ret = util.run_cmd([autotest, self.autotest_build])
except subprocess.CalledProcessError:
return False
return ret == 0
def run(self):
self.progress("Doing: %s" % (self.autotest_build,))
self.backup_config()
successes = []
failures = []
for var in self.get_config_variables():
print("var: %s" % str(var))
self.disable_option_in_config(var)
if self.build_works():
self.progress("%s OK" % var[0])
successes.append(var[0])
else:
self.progress("%s BAD" % var[0])
failures.append(var[0])
self.restore_config()
self.successes = successes
self.failures = failures
self.progress("Successes: %s" % str(successes))
self.progress("Failures: %s" % str(failures))
class BuilderCopter(Builder):
def get_config_variables(self):
ret = []
r = r'//#define ([A-Z_]+)\s+(ENABLED|DISABLED!HAL_MINIMIZE_FEATURES)'
with open(util.reltopdir(self.config)) as fd:
for line in fd:
print("line: %s" % line)
match = re.match(r, line)
if match is not None:
ret.append(match.group(1))
return ret
# read reverse dep "MODE_AUTO_ENABLED": ["MODE_GUIDED"] thusly:
# "if mode-auto is disabled then you must also disable guided mode"
specs = [
{
"config": 'ArduCopter/config.h',
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"autotest_target": "build.Copter",
"target_binary": "bin/arducopter",
"reverse-deps": {
"AP_FENCE_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"],
"PROXIMITY_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"],
"MODE_AUTO_ENABLED": ["MODE_GUIDED", "ADVANCED_FAILSAFE"],
"MODE_RTL_ENABLED": ["MODE_AUTO_ENABLED", "MODE_SMARTRTL_ENABLED"],
"BEACON_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"],
"MODE_CIRCLE_ENABLED": ["MODE_AUTO_ENABLED", "AP_TERRAIN_AVAILABLE"],
"MODE_GUIDED_ENABLED": ["MODE_AUTO_ENABLED",
"ADSB_ENABLED",
"MODE_FOLLOW_ENABLED",
"MODE_GUIDED_NOGPS_ENABLED"],
"AC_AVOID_ENABLED": ["MODE_FOLLOW_ENABLED"],
},
},
{
"config": 'ArduCopter/config.h',
"autotest_target": "build.Helicopter",
"target_binary": "bin/arducopter-heli",
"blacklist_options": ["TOY_MODE_ENABLED",
"MODE_ACRO_ENABLED",
"AUTOTUNE_ENABLED"],
"reverse-deps": {
"AP_FENCE_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"],
"PROXIMITY_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"],
"MODE_AUTO_ENABLED": ["MODE_GUIDED", "ADVANCED_FAILSAFE"],
"MODE_RTL_ENABLED": ["MODE_AUTO_ENABLED", "MODE_SMARTRTL_ENABLED"],
"BEACON_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"],
"MODE_CIRCLE_ENABLED": ["MODE_AUTO_ENABLED"],
"MODE_GUIDED_ENABLED": ["MODE_AUTO_ENABLED",
"ADSB_ENABLED",
"MODE_FOLLOW_ENABLED",
"MODE_GUIDED_NOGPS_ENABLED"],
"AC_AVOID_ENABLED": ["MODE_FOLLOW_ENABLED"],
},
},
{
"config": 'ArduPlane/config.h',
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"autotest_target": "build.Plane",
"target_binary": "bin/arduplane",
"reverse-deps": {
},
}, {
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"config": 'Rover/config.h',
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"autotest_target": "build.Rover",
"target_binary": "bin/ardurover",
"reverse-deps": {
},
}, {
"config": 'ArduSub/config.h',
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"autotest_target": "build.Sub",
"target_binary": "bin/ardusub",
"reverse-deps": {
"AP_FENCE_ENABLED": ["AVOIDANCE_ENABLED"],
"PROXIMITY_ENABLED": ["AVOIDANCE_ENABLED"],
},
}, {
"config": 'AntennaTracker/config.h',
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"autotest_target": "build.Tracker",
"target_binary": "bin/antennatracker",
"reverse-deps": {
},
},
]
if __name__ == '__main__':
builders = []
# append autotest builders:
for spec in specs:
builder = Builder(spec, autotest=True)
builder.run()
builders.append(builder)
# append directly-build-by-waf targets
for spec in specs:
for board in ["CubeOrange"]:
builder = Builder(spec, board=board)
builder.run()
builders.append(builder)
print("")
for builder in builders:
print("Builder: %s" % builder.description())
# print(" Successes: %s" % builder.successes)
print(" Failures: %s" % builder.failures)