#!/usr/bin/env python """ script to determine what features have been built into an ArduPilot binary AP_FLAKE8_CLEAN """ import argparse import os import re import string import subprocess import sys import time import build_options import select if sys.version_info[0] < 3: running_python3 = False else: running_python3 = True class ExtractFeatures(object): def __init__(self, filename, nm="arm-none-eabi-nm"): self.filename = filename self.nm = nm # feature_name should match the equivalent feature in # build_options.py ('FEATURE_NAME', 'EXPECTED_SYMBOL'). # EXPECTED_SYMBOL is a regular expression which will be matched # against "define" in build_options's feature list, and # FEATURE_NAME will have substitutions made from the match. # the substitutions will be upper-cased self.features = [ ('AP_ADVANCEDFAILSAFE_ENABLED', 'AP::advancedfailsafe',), ('AP_BOOTLOADER_FLASHING_ENABLED', 'ChibiOS::Util::flash_bootloader',), ('AP_AIRSPEED_ENABLED', 'AP_Airspeed::AP_Airspeed',), ('AP_AIRSPEED_{type}_ENABLED', r'AP_Airspeed_(?P.*)::init',), ('AC_PRECLAND_ENABLED', 'AC_PrecLand::AC_PrecLand',), ('AC_PRECLAND_ENABLED', 'AC_PrecLand::AC_PrecLand',), ('AC_PRECLAND_{type}_ENABLED', 'AC_PrecLand_(?P.*)::update',), ('HAL_ADSB_ENABLED', 'AP_ADSB::AP_ADSB',), ('HAL_ADSB_{type}_ENABLED', r'AP_ADSB_(?P.*)::update',), ('HAL_ADSB_UCP_ENABLED', 'AP_ADSB_uAvionix_UCP::update',), ('AP_COMPASS_{type}_ENABLED', r'AP_Compass_(?P.*)::read\b',), ('AP_COMPASS_ICM20948_ENABLED', r'AP_Compass_AK09916::probe_ICM20948',), ('AP_AIS_ENABLED', 'AP_AIS::AP_AIS',), ('HAL_EFI_ENABLED', 'AP_EFI::AP_EFI',), ('AP_EFI_{type}_ENABLED', 'AP_EFI_(?P.*)::update',), ('AP_TEMPERATURE_SENSOR_ENABLED', 'AP_TemperatureSensor::AP_TemperatureSensor',), ('AP_TEMPERATURE_SENSOR_{type}_ENABLED', 'AP_TemperatureSensor_(?P.*)::update',), ('AP_BEACON_ENABLED', 'AP_Beacon::AP_Beacon',), ('HAL_TORQEEDO_ENABLED', 'AP_Torqeedo::AP_Torqeedo'), ('HAL_NAVEKF3_AVAILABLE', 'NavEKF3::NavEKF3',), ('HAL_NAVEKF2_AVAILABLE', 'NavEKF2::NavEKF2',), ('HAL_EXTERNAL_AHRS_ENABLED', r'AP_ExternalAHRS::init\b',), ('AP_EXTERNAL_AHRS_{type}_ENABLED', r'AP_ExternalAHRS_{type}::healthy\b',), ('HAL_INS_TEMPERATURE_CAL_ENABLE', 'AP_InertialSensor::TCal::Learn::save_calibration',), ('HAL_VISUALODOM_ENABLED', 'AP_VisualOdom::init',), ('AP_RANGEFINDER_ENABLED', 'RangeFinder::RangeFinder',), ('AP_RANGEFINDER_{type}_ENABLED', r'AP_RangeFinder_(?P.*)::update\b',), ('AP_RANGEFINDER_{type}_ENABLED', r'AP_RangeFinder_(?P.*)::get_reading\b',), ('AP_RANGEFINDER_{type}_ENABLED', r'AP_RangeFinder_(?P.*)::model_dist_max_cm\b',), ('AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED', r'AP_RangeFinder_LightWareSerial::get_reading\b',), ('AP_RANGEFINDER_LWI2C_ENABLED', r'AP_RangeFinder_LightWareI2C::update\b',), ('AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED', r'AP_RangeFinder_MaxsonarSerialLV::get_reading\b',), ('AP_RANGEFINDER_TRI2C_ENABLED', r'AP_RangeFinder_TeraRangerI2C::update\b',), ('AP_GPS_{type}_ENABLED', r'AP_GPS_(?P.*)::read\b',), ('AP_OPTICALFLOW_ENABLED', 'AP_OpticalFlow::AP_OpticalFlow',), ('AP_OPTICALFLOW_{type}_ENABLED', r'AP_OpticalFlow_(?P.*)::update\b',), ('AP_BARO_{type}_ENABLED', r'AP_Baro_(?P.*)::update\b',), ('AP_MOTORS_FRAME_{type}_ENABLED', r'AP_MotorsMatrix::setup_(?P.*)_matrix\b',), ('HAL_MSP_ENABLED', r'AP_MSP::init\b',), ('HAL_MSP_{type}_ENABLED', r'AP_(?P.*)_MSP::update\b',), ('HAL_MSP_{type}_ENABLED', r'AP_(?P.*)_MSP::read\b',), ('HAL_WITH_MSP_DISPLAYPORT', r'AP_OSD_MSP_DisplayPort::init\b',), ('AP_BATTERY_{type}_ENABLED', r'AP_BattMonitor_(?P.*)::init\b',), ('HAL_MOUNT_ENABLED', 'AP_Mount::AP_Mount',), ('HAL_MOUNT_{type}_ENABLED', r'AP_Mount_(?P.*)::update\b',), ('HAL_SOLO_GIMBAL_ENABLED', 'AP_Mount_SoloGimbal::init',), ('HAL_MOUNT_STORM32SERIAL_ENABLED', 'AP_Mount_SToRM32_serial::init',), ('HAL_MOUNT_STORM32MAVLINK_ENABLED', 'AP_Mount_SToRM32::init',), ('HAL_{type}_TELEM_ENABLED', r'AP_(?P.*)_Telem::init',), ('HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED', 'AP_CRSF_Telem::calc_text_selection',), ('AP_LTM_TELEM_ENABLED', 'AP_LTM_Telem::init',), ('HAL_HIGH_LATENCY2_ENABLED', 'GCS_MAVLINK::handle_control_high_latency',), ('AP_FRSKY_TELEM_ENABLED', 'AP::frsky_telem',), ('AP_FRSKY_D_TELEM_ENABLED', 'AP_Frsky_D::send',), ('AP_FRSKY_SPORT_TELEM_ENABLED', 'AP_Frsky_SPort::send_sport_frame',), ('AP_FRSKY_SPORT_PASSTHROUGH_ENABLED', 'AP::frsky_passthrough_telem',), ('MODE_{type}_ENABLED', r'Mode(?P.+)::init',), ('MODE_GUIDED_NOGPS_ENABLED', r'ModeGuidedNoGPS::init',), ('AP_CAMERA_ENABLED', 'AP_Camera::var_info',), ('AP_CAMERA_{type}_ENABLED', 'AP_Camera_(?P.*)::trigger_pic',), ('HAL_RUNCAM_ENABLED', 'AP_RunCam::AP_RunCam',), ('HAL_PROXIMITY_ENABLED', 'AP_Proximity::AP_Proximity',), ('AP_PROXIMITY_{type}_ENABLED', 'AP_Proximity_(?P.*)::update',), ('AP_PROXIMITY_CYGBOT_ENABLED', 'AP_Proximity_Cygbot_D1::update',), ('AP_PROXIMITY_LIGHTWARE_{type}_ENABLED', 'AP_Proximity_LightWare(?P.*)::update',), ('HAL_PARACHUTE_ENABLED', 'AP_Parachute::update',), ('AP_FENCE_ENABLED', r'AC_Fence::check\b',), ('AC_AVOID_ENABLED', 'AC_Avoid::AC_Avoid',), ('AC_OAPATHPLANNER_ENABLED', 'AP_OAPathPlanner::AP_OAPathPlanner',), ('AP_ICENGINE_ENABLED', 'AP_ICEngine::AP_ICEngine',), ('HAL_EFI_ENABLED', 'AP_RPM_EFI::AP_RPM_EFI',), ('AP_EFI_NWPWU_ENABLED', r'AP_EFI_NWPMU::update\b',), ('AP_EFI_CURRAWONG_ECU_ENABLED', r'AP_EFI_Currawong_ECU::update\b',), ('HAL_GENERATOR_ENABLED', 'AP_Generator::AP_Generator',), ('AP_GENERATOR_{type}_ENABLED', r'AP_Generator_(?P.*)::update',), ('OSD_ENABLED', 'AP_OSD::update_osd',), ('HAL_PLUSCODE_ENABLE', 'AP_OSD_Screen::draw_pluscode',), ('OSD_PARAM_ENABLED', 'AP_OSD_ParamScreen::AP_OSD_ParamScreen',), ('HAL_OSD_SIDEBAR_ENABLE', 'AP_OSD_Screen::draw_sidebars',), ('AP_VIDEOTX_ENABLED', 'AP_VideoTX::AP_VideoTX',), ('AP_SMARTAUDIO_ENABLED', 'AP_SmartAudio::AP_SmartAudio',), ('AP_TRAMP_ENABLED', 'AP_Tramp::AP_Tramp',), ('HAL_QUADPLANE_ENABLED', 'QuadPlane::QuadPlane',), ('QAUTOTUNE_ENABLED', 'ModeQAutotune::_enter',), ('HAL_SOARING_ENABLED', 'SoaringController::var_info',), ('HAL_LANDING_DEEPSTALL_ENABLED', r'AP_Landing_Deepstall::terminate\b',), ('AP_GRIPPER_ENABLED', r'AP_Gripper::init\b',), ('HAL_SPRAYER_ENABLED', 'AC_Sprayer::AC_Sprayer',), ('AP_LANDINGGEAR_ENABLED', r'AP_LandingGear::init\b',), ('AP_WINCH_ENABLED', 'AP_Winch::AP_Winch',), ('AP_RELAY_ENABLED', 'AP_Relay::init',), ('AP_SERVORELAYEVENTS_ENABLED', 'AP_ServoRelayEvents::update_events',), ('AP_RCPROTOCOL_ENABLED', r'AP_RCProtocol::init\b',), ('AP_RCPROTOCOL_{type}_ENABLED', r'AP_RCProtocol_(?P.*)::_process_byte\b',), ('AP_RCPROTOCOL_{type}_ENABLED', r'AP_RCProtocol_(?P.*)::_process_pulse\b',), ('AP_VOLZ_ENABLED', r'AP_Volz_Protocol::init\b',), ('AP_DRONECAN_VOLZ_FEEDBACK_ENABLED', r'AP_DroneCAN::handle_actuator_status_Volz\b',), ('AP_ROBOTISSERVO_ENABLED', r'AP_RobotisServo::init\b',), ('AP_FETTEC_ONEWIRE_ENABLED', r'AP_FETtecOneWire::init\b',), ('AP_SBUSOUTPUT_ENABLED', 'AP_SBusOut::sbus_format_frame',), ('AP_KDECAN_ENABLED', r'AP_KDECAN::update\b',), ('AP_RPM_ENABLED', 'AP_RPM::AP_RPM',), ('AP_RPM_{type}_ENABLED', r'AP_RPM_(?P.*)::update',), ('GPS_MOVING_BASELINE', r'AP_GPS_Backend::calculate_moving_base_yaw\b',), ('AP_DRONECAN_SEND_GPS', r'AP_GPS_DroneCAN::instance_exists\b',), ('HAL_WITH_DSP', r'AP_HAL::DSP::find_peaks\b',), ('HAL_GYROFFT_ENABLED', r'AP_GyroFFT::AP_GyroFFT\b',), ('HAL_DISPLAY_ENABLED', r'Display::init\b',), ('HAL_NMEA_OUTPUT_ENABLED', r'AP_NMEA_Output::update\b',), ('HAL_BARO_WIND_COMP_ENABLED', r'AP_Baro::wind_pressure_correction\b',), ('HAL_PICCOLO_CAN_ENABLE', r'AP_PiccoloCAN::update',), ('EK3_FEATURE_EXTERNAL_NAV', r'NavEKF3::writeExtNavVelData'), ('EK3_FEATURE_DRAG_FUSION', r'NavEKF3_core::FuseDragForces'), ('AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED', r'RC_Channel::lookuptable',), ('AP_SCRIPTING_ENABLED', r'AP_Scripting::init',), ('AP_NOTIFY_TONEALARM_ENABLED', r'AP_ToneAlarm::init'), ('AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED', r'AP_Notify::handle_play_tune'), ('AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED', r'AP_Notify::handle_led_control'), ('AP_NOTIFY_NCP5623_ENABLED', r'NCP5623::write'), ('AP_NOTIFY_PROFILED_ENABLED', r'ProfiLED::init_ports'), ('AP_NOTIFY_PROFILED_SPI_ENABLED', r'ProfiLED_SPI::rgb_set_id'), ('AP_NOTIFY_NEOPIXEL_ENABLED', r'NeoPixel::init_ports'), ('AP_FILESYSTEM_FORMAT_ENABLED', r'AP_Filesystem::format'), ('AP_FILESYSTEM_{type}_ENABLED', r'AP_Filesystem_(?P.*)::open'), ('AP_INERTIALSENSOR_KILL_IMU_ENABLED', r'AP_InertialSensor::kill_imu'), ('AP_CRASHDUMP_ENABLED', 'CrashCatcher_DumpMemory'), ] def progress(self, msg): """Pretty-print progress.""" print("EF: %s" % msg) def validate_features_list(self): '''ensures that every define present in build_options.py could be found by in our features list''' # a list of problematic defines we don't have fixes for ATM: whitelist = frozenset([ 'HAL_PERIPH_SUPPORT_LONG_CAN_PRINTF', # this define changes single method body, hard to detect? 'AP_PLANE_BLACKBOX_LOGGING', # no visible signature ]) for option in build_options.BUILD_OPTIONS: if option.define in whitelist: continue matched = False for (define, _) in self.features: # replace {type} with "match any number of word characters''' define_re = "^" + re.sub(r"{type}", "\\\\w+", define) + "$" # print("define re is (%s)" % define_re) if re.match(define_re, option.define): matched = True break if not matched: raise ValueError("feature (%s) is not matched in extract_features" % (option.define)) def run_program(self, prefix, cmd_list, show_output=True, env=None): """Swiped from build_binaries.py.""" if show_output: self.progress("Running (%s)" % " ".join(cmd_list)) p = subprocess.Popen( cmd_list, stdin=None, stdout=subprocess.PIPE, close_fds=True, stderr=subprocess.PIPE, env=env) stderr = bytearray() output = "" while True: # read all of stderr: while True: (rin, _, _) = select.select([p.stderr.fileno()], [], [], 0) if p.stderr.fileno() not in rin: break new = p.stderr.read() if len(new) == 0: break stderr += new x = p.stdout.readline() if len(x) == 0: (rin, _, _) = select.select([p.stderr.fileno()], [], [], 0) if p.stderr.fileno() in rin: stderr += p.stderr.read() 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() if show_output: print("%s: %s" % (prefix, x)) (_, status) = returncode if status != 0: stderr = stderr.decode('utf-8') self.progress("Process failed (%s) (%s)" % (str(returncode), stderr)) raise subprocess.CalledProcessError( status, cmd_list, output=str(output), stderr=str(stderr)) return output class Symbols(object): def __init__(self): self.symbols = dict() self.symbols_without_arguments = dict() def add(self, key, attributes): self.symbols[key] = attributes # also keep around the same symbol name without arguments. # if the key is already present then the attributes become # None as there are multiple possible answers... m = re.match("^([^(]+).*", key) if m is None: extracted_symbol_name = key else: extracted_symbol_name = m.group(1) # print("Adding (%s)" % str(extracted_symbol_name)) if extracted_symbol_name in self.symbols_without_arguments: self.symbols_without_arguments[extracted_symbol_name] = None else: self.symbols_without_arguments[extracted_symbol_name] = attributes def dict_for_symbol(self, symbol): if '(' not in symbol: some_dict = self.symbols_without_arguments else: some_dict = self.symbols return some_dict def extract_symbols_from_elf(self, filename): """Parses ELF in filename, returns dict of symbols=>attributes.""" text_output = self.run_program('EF', [ self.nm, '--demangle', '--print-size', filename ], show_output=False) ret = ExtractFeatures.Symbols() for line in text_output.split("\n"): m = re.match("^([^ ]+) ([^ ]+) ([^ ]) (.*)", line.rstrip()) if m is None: m = re.match("^([^ ]+) ([^ ]) (.*)", line.rstrip()) if m is None: # raise ValueError("Did not match (%s)" % line) # e.g. Did not match ( U _errno) continue (offset, symbol_type, symbol_name) = m.groups() size = "0" else: (offset, size, symbol_type, symbol_name) = m.groups() size = int(size, 16) # print("symbol (%s) size %u" % (str(symbol_name), size)) ret.add(symbol_name, { "size": size, }) return ret def extract(self): '''returns two sets - compiled_in and not_compiled_in''' build_options_defines = set([x.define for x in build_options.BUILD_OPTIONS]) symbols = self.extract_symbols_from_elf(self.filename) remaining_build_options_defines = build_options_defines compiled_in_feature_defines = [] for (feature_define, symbol) in self.features: some_dict = symbols.dict_for_symbol(symbol) # look for symbols without arguments # print("Looking for (%s)" % str(name)) for s in some_dict.keys(): m = re.match(symbol, s) # print("matching %s with %s" % (symbol, s)) if m is None: continue d = m.groupdict() for key in d.keys(): d[key] = d[key].upper() # filter to just the defines present in # build_options.py - otherwise we end up with (e.g.) # AP_AIRSPEED_BACKEND_ENABLED, even 'though that # doesn't exist in the ArduPilot codebase. some_define = feature_define.format(**d) if some_define not in build_options_defines: continue compiled_in_feature_defines.append(some_define) remaining_build_options_defines.discard(some_define) return (compiled_in_feature_defines, remaining_build_options_defines) def create_string(self): '''returns a string with compiled in and not compiled-in features''' (compiled_in_feature_defines, not_compiled_in_feature_defines) = self.extract() ret = "" combined = {} for define in sorted(compiled_in_feature_defines): combined[define] = True for define in sorted(not_compiled_in_feature_defines): combined[define] = False def squash_hal_to_ap(a): return re.sub("^HAL_", "AP_", a) for define in sorted(combined.keys(), key=squash_hal_to_ap): bang = "" if not combined[define]: bang = "!" ret += bang + define + "\n" return ret def run(self): self.validate_features_list() print(self.create_string()) if __name__ == '__main__': parser = argparse.ArgumentParser(prog='extract_features.py', description='Extract ArduPilot features from binaries') parser.add_argument('firmware_file', help='firmware binary') parser.add_argument('-nm', type=str, default="arm-none-eabi-nm", help='nm binary to use.') args = parser.parse_args() # print(args.firmware_file, args.nm) ef = ExtractFeatures(args.firmware_file, args.nm) ef.run()