#!/usr/bin/env python3 ''' Wrapper around elf_diff (https://github.com/noseglasses/elf_diff) to create a html report comparing an ArduPilot build across two branches pip3 install --user elf_diff weasyprint AP_FLAKE8_CLEAN How to use? Starting in the ardupilot directory. ~/ardupilot $ python Tools/scripts/size_compare_branches.py --branch=[PR_BRANCH_NAME] --vehicle=copter Output is placed into ../ELF_DIFF_[VEHICLE_NAME] ''' import copy import fnmatch import optparse import os import pathlib import shutil import string import subprocess import sys import tempfile import threading import time import board_list try: import queue as Queue except ImportError: import Queue if sys.version_info[0] < 3: running_python3 = False else: running_python3 = True class SizeCompareBranchesResult(object): '''object to return results from a comparison''' def __init__(self, board, vehicle, bytes_delta, identical): self.board = board self.vehicle = vehicle self.bytes_delta = bytes_delta self.identical = identical class SizeCompareBranches(object): '''script to build and compare branches using elf_diff''' def __init__(self, branch=None, master_branch="master", board=["MatekF405-Wing"], vehicle=["plane"], bin_dir=None, run_elf_diff=True, all_vehicles=False, exclude_board_glob=[], all_boards=False, use_merge_base=True, waf_consistent_builds=True, show_empty=True, show_unchanged=True, extra_hwdef=[], extra_hwdef_branch=[], extra_hwdef_master=[], parallel_copies=None, jobs=None): if branch is None: branch = self.find_current_git_branch_or_sha1() self.master_branch = master_branch self.branch = branch self.board = board self.vehicle = vehicle self.bin_dir = bin_dir self.run_elf_diff = run_elf_diff self.extra_hwdef = extra_hwdef self.extra_hwdef_branch = extra_hwdef_branch self.extra_hwdef_master = extra_hwdef_master self.all_vehicles = all_vehicles self.all_boards = all_boards self.use_merge_base = use_merge_base self.waf_consistent_builds = waf_consistent_builds self.show_empty = show_empty self.show_unchanged = show_unchanged self.parallel_copies = parallel_copies self.jobs = jobs if self.bin_dir is None: self.bin_dir = self.find_bin_dir() self.boards_by_name = {} for board in board_list.BoardList().boards: self.boards_by_name[board.name] = board # map from vehicle names to binary names self.vehicle_map = { "rover" : "ardurover", "copter" : "arducopter", "plane" : "arduplane", "sub" : "ardusub", "heli" : "arducopter-heli", "blimp" : "blimp", "antennatracker" : "antennatracker", "AP_Periph" : "AP_Periph", "bootloader": "AP_Bootloader", "iofirmware": "iofirmware_highpolh", # FIXME: lowpolh? } if all_boards: self.board = sorted(list(self.boards_by_name.keys()), key=lambda x: x.lower()) else: # validate boards all_boards = set(self.boards_by_name.keys()) for b in self.board: if b not in all_boards: raise ValueError("Bad board %s" % str(b)) if all_vehicles: self.vehicle = sorted(list(self.vehicle_map.keys()), key=lambda x: x.lower()) else: for v in self.vehicle: if v not in self.vehicle_map.keys(): raise ValueError("Bad vehicle (%s); choose from %s" % (v, ",".join(self.vehicle_map.keys()))) # remove boards based on --exclude-board-glob new_self_board = [] for board_name in self.board: exclude = False for exclude_glob in exclude_board_glob: if fnmatch.fnmatch(board_name, exclude_glob): exclude = True break if not exclude: new_self_board.append(board_name) self.board = new_self_board # some boards we don't have a -bl.dat for, so skip them. # TODO: find a way to get this information from board_list: self.bootloader_blacklist = set([ 'CubeOrange-SimOnHardWare', 'CubeOrangePlus-SimOnHardWare', 'fmuv2', 'fmuv3-bdshot', 'iomcu', 'iomcu-dshot', 'iomcu-f103', 'iomcu-f103-dshot', 'iomcu-f103-8MHz-dshot', 'iomcu_f103_8MHz', 'luminousbee4', 'skyviper-v2450', 'skyviper-f412-rev1', 'skyviper-journey', 'Pixhawk1-1M-bdshot', 'Pixhawk1-bdshot', 'SITL_arm_linux_gnueabihf', 'RADIX2HD', 'canzero', 'CUAV-Pixhack-v3', # uses USE_BOOTLOADER_FROM_BOARD ]) # blacklist all linux boards for bootloader build: self.bootloader_blacklist.update(self.linux_board_names()) # ... and esp32 boards: self.bootloader_blacklist.update(self.esp32_board_names()) def linux_board_names(self): '''return a list of all Linux board names; FIXME: get this dynamically''' # grep 'class.*[(]linux' Tools/ardupilotwaf/boards.py | perl -pe "s/class (.*)\(linux\).*/ '\\1',/" return [ 'navigator', 'erleboard', 'navio', 'navio2', 'edge', 'zynq', 'ocpoc_zynq', 'bbbmini', 'blue', 'pocket', 'pxf', 'bebop', 'vnav', 'disco', 'erlebrain2', 'bhat', 'dark', 'pxfmini', 'aero', 'rst_zynq', 'obal', 'SITL_x86_64_linux_gnu', 'canzero', ] def esp32_board_names(self): return [ 'esp32buzz', 'esp32empty', 'esp32tomte76', 'esp32nick', 'esp32s3devkit', 'esp32s3empty', 'esp32icarous', 'esp32diy', ] def find_bin_dir(self): '''attempt to find where the arm-none-eabi tools are''' binary = shutil.which("arm-none-eabi-g++") if binary is None: raise Exception("No arm-none-eabi-g++?") return os.path.dirname(binary) # vast amounts of stuff copied into here from build_binaries.py def run_program(self, prefix, cmd_list, show_output=True, env=None, show_output_on_error=True, show_command=None, cwd="."): if show_command is None: show_command = True if show_command: cmd = " ".join(cmd_list) if cwd is None: cwd = "." self.progress(f"Running ({cmd}) in ({cwd})") p = subprocess.Popen( cmd_list, stdin=None, stdout=subprocess.PIPE, close_fds=True, stderr=subprocess.STDOUT, cwd=cwd, env=env) output = "" while True: x = p.stdout.readline() if len(x) == 0: returncode = os.waitpid(p.pid, 0) if returncode: break # select not available on Windows... probably... time.sleep(0.1) continue if running_python3: x = bytearray(x) x = filter(lambda x : chr(x) in string.printable, x) x = "".join([chr(c) for c in x]) output += x x = x.rstrip() some_output = "%s: %s" % (prefix, x) if show_output: print(some_output) else: output += some_output (_, status) = returncode if status != 0: if not show_output and show_output_on_error: # we were told not to show output, but we just # failed... so show output... print(output) self.progress("Process failed (%s)" % str(returncode)) try: path = pathlib.Path(self.tmpdir, f"process-failure-{int(time.time())}") path.write_text(output) self.progress("Wrote process failure file (%s)" % path) except Exception: self.progress("Writing process failure file failed") raise subprocess.CalledProcessError( returncode, cmd_list) return output def find_current_git_branch_or_sha1(self): try: output = self.run_git(["symbolic-ref", "--short", "HEAD"]) output = output.strip() return output except subprocess.CalledProcessError: pass # probably in a detached-head state. Get a sha1 instead: output = self.run_git(["rev-parse", "--short", "HEAD"]) output = output.strip() return output def find_git_branch_merge_base(self, branch, master_branch): output = self.run_git(["merge-base", branch, master_branch]) output = output.strip() return output def run_git(self, args, show_output=True, source_dir=None): '''run git with args git_args; returns git's output''' cmd_list = ["git"] cmd_list.extend(args) return self.run_program("SCB-GIT", cmd_list, show_output=show_output, cwd=source_dir) def run_waf(self, args, compiler=None, show_output=True, source_dir=None): # try to modify the environment so we can consistent builds: consistent_build_envs = { "CHIBIOS_GIT_VERSION": "12345678", "GIT_VERSION": "abcdef", "GIT_VERSION_INT": "15", } for (n, v) in consistent_build_envs.items(): os.environ[n] = v if os.path.exists("waf"): waf = "./waf" else: waf = os.path.join(".", "modules", "waf", "waf-light") cmd_list = [waf] cmd_list.extend(args) env = None if compiler is not None: # default to $HOME/arm-gcc, but allow for any path with AP_GCC_HOME environment variable gcc_home = os.environ.get("AP_GCC_HOME", os.path.join(os.environ["HOME"], "arm-gcc")) gcc_path = os.path.join(gcc_home, compiler, "bin") if os.path.exists(gcc_path): # setup PATH to point at the right compiler, and setup to use ccache env = os.environ.copy() env["PATH"] = gcc_path + ":" + env["PATH"] env["CC"] = "ccache arm-none-eabi-gcc" env["CXX"] = "ccache arm-none-eabi-g++" else: raise Exception("BB-WAF: Missing compiler %s" % gcc_path) self.run_program("SCB-WAF", cmd_list, env=env, show_output=show_output, cwd=source_dir) def progress(self, string): '''pretty-print progress''' print("SCB: %s" % string) def build_branch_into_dir(self, board, branch, vehicle, outdir, source_dir=None, extra_hwdef=None, jobs=None): self.run_git(["checkout", branch], show_output=False, source_dir=source_dir) self.run_git(["submodule", "update", "--recursive"], show_output=False, source_dir=source_dir) build_dir = "build" if source_dir is not None: build_dir = os.path.join(source_dir, "build") shutil.rmtree(build_dir, ignore_errors=True) waf_configure_args = ["configure", "--board", board] if self.waf_consistent_builds: waf_configure_args.append("--consistent-builds") if extra_hwdef is not None: waf_configure_args.extend(["--extra-hwdef", extra_hwdef]) if self.run_elf_diff: waf_configure_args.extend(["--debug-symbols"]) if jobs is None: jobs = self.jobs if jobs is not None: waf_configure_args.extend(["-j", str(jobs)]) self.run_waf(waf_configure_args, show_output=False, source_dir=source_dir) # we can't run `./waf copter blimp plane` without error, so do # them one-at-a-time: for v in vehicle: if v == 'bootloader': # need special configuration directive continue self.run_waf([v], show_output=False, source_dir=source_dir) for v in vehicle: if v != 'bootloader': continue if board in self.bootloader_blacklist: continue # need special configuration directive bootloader_waf_configure_args = copy.copy(waf_configure_args) bootloader_waf_configure_args.append('--bootloader') # hopefully temporary hack so you can build bootloader # after building other vehicles without a clean: dsdl_generated_path = os.path.join('build', board, "modules", "DroneCAN", "libcanard", "dsdlc_generated") self.progress("HACK: Removing (%s)" % dsdl_generated_path) if source_dir is not None: dsdl_generated_path = os.path.join(source_dir, dsdl_generated_path) shutil.rmtree(dsdl_generated_path, ignore_errors=True) self.run_waf(bootloader_waf_configure_args, show_output=False, source_dir=source_dir) self.run_waf([v], show_output=False, source_dir=source_dir) self.run_program("rsync", ["rsync", "-ap", "build/", outdir], cwd=source_dir) if source_dir is not None: pathlib.Path(outdir, "scb_sourcepath.txt").write_text(source_dir) def vehicles_to_build_for_board_info(self, board_info): vehicles_to_build = [] for vehicle in self.vehicle: if vehicle == 'AP_Periph': if not board_info.is_ap_periph: continue else: if board_info.is_ap_periph: continue # the bootloader target isn't an autobuild target, so # it gets special treatment here: if vehicle != 'bootloader' and vehicle.lower() not in [x.lower() for x in board_info.autobuild_targets]: continue vehicles_to_build.append(vehicle) return vehicles_to_build def parallel_thread_main(self, thread_number): # initialisation; make a copy of the source directory my_source_dir = os.path.join(self.tmpdir, f"thread-{thread_number}-source") self.run_program("rsync", [ "rsync", "--exclude=build/", "-ap", "./", my_source_dir ]) while True: try: task = self.parallel_tasks.pop(0) except IndexError: break jobs = None if self.jobs is not None: jobs = int(self.jobs / self.n_threads) if jobs <= 0: jobs = 1 try: self.run_build_task(task, source_dir=my_source_dir, jobs=jobs) except Exception as ex: self.thread_exit_result_queue.put(f"{task}") raise ex def check_result_queue(self): while True: try: result = self.thread_exit_result_queue.get_nowait() except Queue.Empty: break if result is None: continue self.failure_exceptions.append(result) def run_build_tasks_in_parallel(self, tasks): self.n_threads = self.parallel_copies # shared list for the threads: self.parallel_tasks = copy.copy(tasks) # make this an argument instead?! threads = [] self.thread_exit_result_queue = Queue.Queue() tstart = time.time() self.failure_exceptions = [] thread_number = 0 while len(self.parallel_tasks) or len(threads): if len(self.parallel_tasks) < self.n_threads: self.n_threads = len(self.parallel_tasks) while len(threads) < self.n_threads: self.progress(f"Starting thread {thread_number}") t = threading.Thread( target=self.parallel_thread_main, name=f'task-builder-{thread_number}', args=[thread_number], ) t.start() threads.append(t) thread_number += 1 self.check_result_queue() new_threads = [] for thread in threads: thread.join(0) if thread.is_alive(): new_threads.append(thread) threads = new_threads self.progress( f"remaining-tasks={len(self.parallel_tasks)} " + f"failed-threads={len(self.failure_exceptions)} elapsed={int(time.time() - tstart)}s") # noqa # write out a progress CSV: task_results = [] for task in tasks: task_results.append(self.gather_results_for_task(task)) # progress CSV: csv_for_results = self.csv_for_results(self.compare_task_results(task_results, no_elf_diff=True)) path = pathlib.Path("/tmp/some.csv") path.write_text(csv_for_results) time.sleep(1) self.progress("All threads returned") self.check_result_queue() if len(self.failure_exceptions): self.progress("Some threads failed:") for ex in self.failure_exceptions: print("Thread failure: %s" % str(ex)) def run_all(self): '''run tests for boards and vehicles passed in constructor''' tmpdir = tempfile.mkdtemp() self.tmpdir = tmpdir self.master_commit = self.master_branch if self.use_merge_base: self.master_commit = self.find_git_branch_merge_base(self.branch, self.master_branch) self.progress("Using merge base (%s)" % self.master_commit) # create an array of tasks to run: tasks = [] for board in self.board: board_info = self.boards_by_name[board] vehicles_to_build = self.vehicles_to_build_for_board_info(board_info) outdir_1 = os.path.join(tmpdir, "out-master-%s" % (board,)) tasks.append((board, self.master_commit, outdir_1, vehicles_to_build, self.extra_hwdef_master)) outdir_2 = os.path.join(tmpdir, "out-branch-%s" % (board,)) tasks.append((board, self.branch, outdir_2, vehicles_to_build, self.extra_hwdef_branch)) self.tasks = tasks if self.parallel_copies is not None: self.run_build_tasks_in_parallel(tasks) task_results = [] for task in tasks: task_results.append(self.gather_results_for_task(task)) else: # traditional build everything in sequence: task_results = [] for task in tasks: self.run_build_task(task) task_results.append(self.gather_results_for_task(task)) # progress CSV: with open("/tmp/some.csv", "w") as f: f.write(self.csv_for_results(self.compare_task_results(task_results, no_elf_diff=True))) return self.compare_task_results(task_results) def elf_diff_results(self, result_master, result_branch): master_branch = result_master["branch"] branch = result_branch["branch"] for vehicle in result_master["vehicle"].keys(): elf_filename = result_master["vehicle"][vehicle]["elf_filename"] master_elf_dir = result_master["vehicle"][vehicle]["elf_dir"] new_elf_dir = result_branch["vehicle"][vehicle]["elf_dir"] board = result_master["board"] self.progress("Starting compare (~10 minutes!)") elf_diff_commandline = [ "time", "python3", "-m", "elf_diff", "--bin_dir", self.bin_dir, '--bin_prefix=arm-none-eabi-', "--old_alias", "%s %s" % (master_branch, elf_filename), "--new_alias", "%s %s" % (branch, elf_filename), "--html_dir", "../ELF_DIFF_%s_%s" % (board, vehicle), ] try: master_source_prefix = result_master["vehicle"][vehicle]["source_path"] branch_source_prefix = result_branch["vehicle"][vehicle]["source_path"] elf_diff_commandline.extend([ "--old_source_prefix", master_source_prefix, "--new_source_prefix", branch_source_prefix, ]) except KeyError: pass elf_diff_commandline.extend([ os.path.join(master_elf_dir, elf_filename), os.path.join(new_elf_dir, elf_filename) ]) self.run_program("SCB", elf_diff_commandline) def compare_task_results(self, task_results, no_elf_diff=False): # pair off results, master and branch: pairs = {} for res in task_results: board = res["board"] if board not in pairs: pairs[board] = {} if res["branch"] == self.master_commit: pairs[board]["master"] = res elif res["branch"] == self.branch: pairs[board]["branch"] = res else: raise ValueError(res["branch"]) results = {} for pair in pairs.values(): if "master" not in pair or "branch" not in pair: # probably incomplete: continue master = pair["master"] board = master["board"] try: results[board] = self.compare_results(master, pair["branch"]) if self.run_elf_diff and not no_elf_diff: self.elf_diff_results(master, pair["branch"]) except FileNotFoundError: pass return results def emit_csv_for_results(self, results): '''emit dictionary of dictionaries as a CSV''' print(self.csv_for_results(results)) def csv_for_results(self, results): '''return a string with csv for results''' boards = sorted(results.keys()) all_vehicles = set() for board in boards: all_vehicles.update(list(results[board].keys())) sorted_all_vehicles = sorted(list(all_vehicles)) ret = "" ret += ",".join(["Board"] + sorted_all_vehicles) + "\n" for board in boards: line = [board] board_results = results[board] for vehicle in sorted_all_vehicles: bytes_delta = "" if vehicle in board_results: result = board_results[vehicle] if result.identical: bytes_delta = "*" else: bytes_delta = result.bytes_delta line.append(str(bytes_delta)) # do not add to ret value if we're not showing empty results: if not self.show_empty: if len(list(filter(lambda x : x != "", line[1:]))) == 0: continue # do not add to ret value if all output binaries are identical: if not self.show_unchanged: starcount = len(list(filter(lambda x : x == "*", line[1:]))) if len(line[1:]) == starcount: continue ret += ",".join(line) + "\n" return ret def run(self): results = self.run_all() self.emit_csv_for_results(results) def files_are_identical(self, file1, file2): '''returns true if the files have the same content''' return open(file1, "rb").read() == open(file2, "rb").read() def extra_hwdef_file(self, more): # create a combined list of hwdefs: extra_hwdefs = [] extra_hwdefs.extend(self.extra_hwdef) extra_hwdefs.extend(more) extra_hwdefs = list(filter(lambda x : x is not None, extra_hwdefs)) if len(extra_hwdefs) == 0: return None # slurp all content into a variable: content = bytearray() for extra_hwdef in extra_hwdefs: with open(extra_hwdef, "r+b") as f: content += f.read() # spew content to single file: f = tempfile.NamedTemporaryFile(delete=False) f.write(content) f.close() return f.name def run_build_task(self, task, source_dir=None, jobs=None): (board, commitish, outdir, vehicles_to_build, extra_hwdef_file) = task self.progress(f"Building {task}") shutil.rmtree(outdir, ignore_errors=True) self.build_branch_into_dir( board, commitish, vehicles_to_build, outdir, source_dir=source_dir, extra_hwdef=self.extra_hwdef_file(extra_hwdef_file), jobs=jobs, ) def gather_results_for_task(self, task): (board, commitish, outdir, vehicles_to_build, extra_hwdef_file) = task result = { "board": board, "branch": commitish, "vehicle": {}, } have_source_trees = self.parallel_copies is not None and len(self.tasks) <= self.parallel_copies for vehicle in vehicles_to_build: if vehicle == 'bootloader' and board in self.bootloader_blacklist: continue result["vehicle"][vehicle] = {} v = result["vehicle"][vehicle] v["bin_filename"] = self.vehicle_map[vehicle] + '.bin' elf_dirname = "bin" if vehicle == 'bootloader': # elfs for bootloaders are in the bootloader directory... elf_dirname = "bootloader" elf_basedir = outdir if have_source_trees: try: v["source_path"] = pathlib.Path(outdir, "scb_sourcepath.txt").read_text() elf_basedir = os.path.join(v["source_path"], 'build') self.progress("Have source trees") except FileNotFoundError: pass v["bin_dir"] = os.path.join(elf_basedir, board, "bin") elf_dir = os.path.join(elf_basedir, board, elf_dirname) v["elf_dir"] = elf_dir v["elf_filename"] = self.vehicle_map[vehicle] return result def compare_results(self, result_master, result_branch): ret = {} for vehicle in result_master["vehicle"].keys(): # check for the difference in size (and identicality) # of the two binaries: master_bin_dir = result_master["vehicle"][vehicle]["bin_dir"] new_bin_dir = result_branch["vehicle"][vehicle]["bin_dir"] try: bin_filename = result_master["vehicle"][vehicle]["bin_filename"] master_path = os.path.join(master_bin_dir, bin_filename) new_path = os.path.join(new_bin_dir, bin_filename) master_size = os.path.getsize(master_path) new_size = os.path.getsize(new_path) except FileNotFoundError: elf_filename = result_master["vehicle"][vehicle]["elf_filename"] master_path = os.path.join(master_bin_dir, elf_filename) new_path = os.path.join(new_bin_dir, elf_filename) master_size = os.path.getsize(master_path) new_size = os.path.getsize(new_path) identical = self.files_are_identical(master_path, new_path) board = result_master["board"] ret[vehicle] = SizeCompareBranchesResult(board, vehicle, new_size - master_size, identical) return ret if __name__ == '__main__': parser = optparse.OptionParser("size_compare_branches.py") parser.add_option("", "--elf-diff", action="store_true", default=False, help="run elf_diff on output files") parser.add_option("", "--master-branch", type="string", default="master", help="master branch to use") parser.add_option("", "--no-merge-base", action="store_true", default=False, help="do not use the merge-base for testing, do a direct comparison between branches") parser.add_option("", "--no-waf-consistent-builds", action="store_true", default=False, help="do not use the --consistent-builds waf command-line option (for older branches)") parser.add_option("", "--branch", type="string", default=None, help="branch to compare") parser.add_option("", "--vehicle", action='append', default=[], help="vehicle to build for") parser.add_option("", "--show-empty", action='store_true', default=False, help="Show result lines even if no builds were done for the board") parser.add_option("", "--hide-unchanged", action='store_true', default=False, help="Hide binary-size-change results for any board where output binary is unchanged") parser.add_option("", "--board", action='append', default=[], help="board to build for") parser.add_option("", "--extra-hwdef", default=[], action="append", help="configure with this extra hwdef file") parser.add_option("", "--extra-hwdef-branch", default=[], action="append", help="configure with this extra hwdef file only on new branch") parser.add_option("", "--extra-hwdef-master", default=[], action="append", help="configure with this extra hwdef file only on merge/master branch") parser.add_option("", "--all-boards", action='store_true', default=False, help="Build all boards") parser.add_option("", "--exclude-board-glob", default=[], action="append", help="exclude any board which matches this pattern") parser.add_option("", "--all-vehicles", action='store_true', default=False, help="Build all vehicles") parser.add_option("", "--parallel-copies", type=int, default=None, help="Copy source dir this many times, build from those copies in parallel") parser.add_option("-j", "--jobs", type=int, default=None, help="Passed to waf configure -j; number of build jobs. If running with --parallel-copies, this is divided by the number of remaining threads before being passed.") # noqa cmd_opts, cmd_args = parser.parse_args() vehicle = [] for v in cmd_opts.vehicle: vehicle.extend(v.split(',')) if len(vehicle) == 0: vehicle.append("plane") board = [] for b in cmd_opts.board: board.extend(b.split(',')) if len(board) == 0: board.append("MatekF405-Wing") x = SizeCompareBranches( branch=cmd_opts.branch, master_branch=cmd_opts.master_branch, board=board, vehicle=vehicle, extra_hwdef=cmd_opts.extra_hwdef, extra_hwdef_branch=cmd_opts.extra_hwdef_branch, extra_hwdef_master=cmd_opts.extra_hwdef_master, run_elf_diff=(cmd_opts.elf_diff), all_vehicles=cmd_opts.all_vehicles, all_boards=cmd_opts.all_boards, exclude_board_glob=cmd_opts.exclude_board_glob, use_merge_base=not cmd_opts.no_merge_base, waf_consistent_builds=not cmd_opts.no_waf_consistent_builds, show_empty=cmd_opts.show_empty, show_unchanged=not cmd_opts.hide_unchanged, parallel_copies=cmd_opts.parallel_copies, jobs=cmd_opts.jobs, ) x.run()