#!/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', 'AC_FENCE', 'CAMERA', 'RANGEFINDER_ENABLED', 'PROXIMITY_ENABLED', 'AC_RALLY', 'AC_AVOID_ENABLED', 'AC_TERRAIN', 'PARACHUTE', 'NAV_GUIDED', 'OPTFLOW', 'VISUAL_ODOMETRY_ENABLED', 'FRSKY_TELEM_ENABLED', 'ADSB_ENABLED', 'PRECISION_LANDING', 'SPRAYER', 'WINCH_ENABLED', 'ADVANCED_FAILSAFE'] BWFD: Failures: ['LOGGING_ENABLED'] pbarker@bluebottle:~/rc/ardupilot(build-with-disabled-features)$ q ''' # 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"] # 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 = (' *# *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 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 = ' *# *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 = ' *# *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 = '//#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": ["AC_TERRAIN", "MODE_GUIDED"] thusly: # "if mode-auto is disabled then you must also disable terrain and guided mode" specs = [ { "config": 'ArduCopter/config.h', "autotest_target": "build.ArduCopter", "target_binary": "bin/arducopter", "reverse-deps": { "AC_FENCE": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"], "PROXIMITY_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"], "AC_RALLY": ["AC_TERRAIN"], "MODE_AUTO_ENABLED": ["AC_TERRAIN", "MODE_GUIDED"], "MODE_RTL_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN", "MODE_SMARTRTL_ENABLED"], "BEACON_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"], "MODE_CIRCLE_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"], "MODE_GUIDED_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN", "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", "reverse-deps": { "AC_FENCE": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"], "PROXIMITY_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"], "AC_RALLY": ["AC_TERRAIN"], "MODE_AUTO_ENABLED": ["AC_TERRAIN", "MODE_GUIDED"], "MODE_RTL_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"], "BEACON_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"], "MODE_CIRCLE_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"], "MODE_GUIDED_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"], "AC_AVOID_ENABLED": ["MODE_FOLLOW_ENABLED"], }, }, { "config": 'ArduPlane/config.h', "autotest_target": "build.ArduPlane", "target_binary": "bin/arduplane", "reverse-deps": { }, }, { "config": 'APMrover2/config.h', "autotest_target": "build.APMrover2", "target_binary": "bin/ardurover", "reverse-deps": { }, }, { "config": 'ArduSub/config.h', "autotest_target": "build.ArduSub", "target_binary": "bin/ardusub", "reverse-deps": { "AC_FENCE": ["AVOIDANCE_ENABLED"], "PROXIMITY_ENABLED": ["AVOIDANCE_ENABLED"], "AC_RALLY": ["AC_TERRAIN"], }, }, { "config": 'AntennaTracker/config.h', "autotest_target": "build.AntennaTracker", "target_binary": "bin/antennatracker", "reverse-deps": { }, }, ] 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)