mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-11 17:13:56 -03:00
Tools: build all vehicles in build-with-disabled-features
This commit is contained in:
Peter Barker
Randy Mackay
parent
6ab96fe8a9
commit
4847a61868
@ -34,22 +34,13 @@ from pysim import util
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class Builder():
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def __init__(self):
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self.config = 'ArduCopter/APM_Config.h'
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self.autotest_build = "build.ArduCopter"
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def __init__(self, spec):
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self.config = spec["config"]
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self.autotest_build = spec["builddir"]
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# list other features that have to be disabled when a feature
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# is disabled (recursion not done; be exhaustive):
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self.reverse_deps = {
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"AC_FENCE": ["AC_AVOID_ENABLED"],
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"PROXIMITY_ENABLED": ["AC_AVOID_ENABLED"],
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"AC_RALLY": ["AC_TERRAIN"],
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"MODE_AUTO_ENABLED": ["AC_TERRAIN", "MODE_GUIDED"],
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"MODE_RTL_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"],
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"BEACON_ENABLED": ["AC_AVOID_ENABLED"],
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"MODE_CIRCLE_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"],
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"MODE_GUIDED_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"],
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}
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self.reverse_deps = spec["reverse-deps"]
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def reverse_deps_for_var(self, var):
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return self.reverse_deps.get(var, [])
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@ -59,29 +50,56 @@ class Builder():
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def get_config_variables(self):
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ret = []
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r = (' *# *define +([A-Z_]+)\s+'
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'(ENABLED|DISABLED|!HAL_MINIMIZE_FEATURES)')
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with open(util.reltopdir(self.config)) as fd:
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for line in fd:
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match = re.match('//#define ([A-Z_]+)\s+(ENABLED|DISABLED)',
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line)
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if match is not None:
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ret.append(match.group(1))
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return ret
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match = re.match(r, line)
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if match is None:
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continue
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if match.group(1) in ("ENABLE", "DISABLE",
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"!HAL_MINIMIZE_FEATURES"):
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continue
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ret.append( (match.group(1), match.group(2) ))
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return set(ret)
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def disable_option_in_config(self, var):
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tmpfile = util.reltopdir(self.config) + ".tmp"
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shutil.move(self.config, tmpfile)
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out_fd = open(self.config, 'w+')
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with open(util.reltopdir(tmpfile)) as fd:
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for line in fd:
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things_to_toggle = self.reverse_deps_for_var(var)
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things_to_toggle.append(var)
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for thing in things_to_toggle:
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line = re.sub(
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'//(#define\s+%s\s+(ENABLED|DISABLED))' % thing,
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"\\1",
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line)
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out_fd.write(line)
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out_fd.close()
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with open(self.config, 'w+') as out_fd:
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with open(util.reltopdir(tmpfile)) as fd:
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did_enable = False
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for line in fd:
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regex = ' *# *define +%s\s+(ENABLED|DISABLED|!HAL_MINIMIZE_FEATURES)' % (var[0],)
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match = re.match(regex, line)
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if match is not None:
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if (match.group(1) in ["ENABLED",
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"!HAL_MINIMIZE_FEATURES"]):
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fnoo = "DISABLED"
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else:
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fnoo = "ENABLED"
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did_enable = True
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line = "#define %s %s\n" % (var[0], fnoo)
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out_fd.write(line)
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# turn dependencies on or off:
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tmpfile = util.reltopdir(self.config) + ".tmp-deps"
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shutil.move(self.config, tmpfile)
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with open(self.config, 'w+') as out_fd:
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with open(util.reltopdir(tmpfile)) as fd:
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for line in fd:
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things_to_toggle = self.reverse_deps_for_var(var[0])
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for thing in things_to_toggle:
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regex = ' *# *define +%s\s+(ENABLED|DISABLED|!HAL_MINIMIZE_FEATURES)' % thing
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match = re.match(regex, line)
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if match is not None:
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if did_enable:
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fnoo = "ENABLED"
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else:
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fnoo = "DISABLED"
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line = "#define %s %s\n" % (thing, fnoo)
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out_fd.write(line)
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def backup_config_filepath(self):
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return util.reltopdir(self.config) + ".backup"
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@ -102,22 +120,92 @@ class Builder():
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return ret == 0
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def run(self):
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self.progress("Doing: %s" % (self.autotest_build,))
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self.backup_config()
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successes = []
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failures = []
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for var in self.get_config_variables():
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print("var: %s" % str(var))
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self.disable_option_in_config(var)
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if self.build_works():
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self.progress("%s OK" % var)
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successes.append(var)
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self.progress("%s OK" % var[0])
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successes.append(var[0])
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else:
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self.progress("%s BAD" % var)
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failures.append(var)
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self.progress("%s BAD" % var[0])
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failures.append(var[0])
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self.restore_config()
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self.successes = successes
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self.failures = failures
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self.progress("Successes: %s" % str(successes))
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self.progress("Failures: %s" % str(failures))
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class BuilderCopter(Builder):
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def get_config_variables(self):
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ret = []
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r = '//#define ([A-Z_]+)\s+(ENABLED|DISABLED!HAL_MINIMIZE_FEATURES)'
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with open(util.reltopdir(self.config)) as fd:
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for line in fd:
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print("line: %s" % line)
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match = re.match(r, line)
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if match is not None:
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ret.append(match.group(1))
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return ret
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builder = Builder()
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builder.run()
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# read reverse dep "MODE_AUTO_ENABLED": ["AC_TERRAIN", "MODE_GUIDED"] thusly:
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# "if mode-auto is disabled then you must also disable terrain and guided mode"
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specs = [
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{
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"config": 'ArduCopter/config.h',
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"builddir": "build.ArduCopter",
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"reverse-deps": {
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"AC_FENCE": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"],
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"PROXIMITY_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED" ],
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"AC_RALLY": ["AC_TERRAIN"],
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"MODE_AUTO_ENABLED": ["AC_TERRAIN", "MODE_GUIDED"],
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"MODE_RTL_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"],
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"BEACON_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"],
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"MODE_CIRCLE_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"],
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"MODE_GUIDED_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"],
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"AC_AVOID_ENABLED": ["MODE_FOLLOW_ENABLED"],
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},
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}, {
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"config": 'ArduPlane/config.h',
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"builddir": "build.ArduPlane",
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"reverse-deps": {
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},
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}, {
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"config": 'APMrover2/config.h',
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"builddir": "build.APMrover2",
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"reverse-deps": {
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},
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}, {
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"config": 'ArduSub/config.h',
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"builddir": "build.ArduSub",
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"reverse-deps": {
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"AC_FENCE": ["AVOIDANCE_ENABLED"],
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"PROXIMITY_ENABLED": ["AVOIDANCE_ENABLED"],
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"AC_RALLY": ["AC_TERRAIN"],
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},
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}, {
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"config": 'AntennaTracker/config.h',
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"builddir": "build.AntennaTracker",
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"reverse-deps": {
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},
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},
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]
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builders = []
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for spec in specs:
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builder = Builder(spec)
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builder.run()
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builders.append(builder)
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print("")
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for builder in builders:
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print("Builder: %s" % builder.autotest_build)
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print(" Successes: %s" % builder.successes)
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print(" Failures: %s" % builder.failures)
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