#!/usr/bin/env python """ script to determine what features have been built into an ArduPilot binary AP_FLAKE8_CLEAN """ import optparse import os import re import string import subprocess import sys import time import build_options if sys.version_info[0] < 3: running_python3 = False else: running_python3 = True class ExtractFeatures(object): def __init__(self, filename): self.filename = filename self.nm = 'arm-none-eabi-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_AIRSPEED_ENABLED', 'AP_Airspeed::AP_Airspeed',), ('AP_AIRSPEED_{type}_ENABLED', r'AP_Airspeed_(?P.*)::init',), ('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_AIS_ENABLED', 'AP_AIS::AP_AIS',), ('HAL_EFI_ENABLED', 'AP_EFI::AP_EFI',), ('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',), ('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_BATTMON_{type}_ENABLE', r'AP_BattMonitor_(?P.*)::init\b',), ('HAL_BATTMON_{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',), ('MODE_{type}_ENABLED', r'Mode(?P.+)::init',), ('MODE_GUIDED_NOGPS_ENABLED', r'ModeGuidedNoGPS::init',), ('HAL_RUNCAM_ENABLED', 'AP_RunCam::AP_RunCam',), ('HAL_PARACHUTE_ENABLED', 'AP_Parachute::update',), ('AP_FENCE_ENABLED', r'AC_Fence::check\b',), ('HAL_PROXIMITY_ENABLED', 'AP_Proximity::AP_Proximity',), ('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',), ('HAL_EFI_NWPWU_ENABLED', r'AP_EFI_NWPMU::update\b',), ('HAL_GENERATOR_ENABLED', 'AP_Generator::AP_Generator',), ('AP_GENERATOR_{type}_ENABLED', r'AP_Generator_(?P.*)::update',), ('OSD_ENABLED', 'AP_OSD::AP_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',), ('HAL_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',), ('WINCH_ENABLED', 'AP_Winch::AP_Winch',), ('AP_VOLZ_ENABLED', r'AP_Volz_Protocol::init\b',), ('AP_ROBOTISSERVO_ENABLED', r'AP_RobotisServo::init\b',), ('AP_FETTEC_ONEWIRE_ENABLED', r'AP_FETtecOneWire::init\b',), ('AP_RPM_ENABLED', 'AP_RPM::AP_RPM',), ('GPS_MOVING_BASELINE', r'AP_GPS_Backend::calculate_moving_base_yaw\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'), ] def progress(self, string): '''pretty-print progress''' print("EF: %s" % string) 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.STDOUT, 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() if show_output: print("%s: %s" % (prefix, x)) (_, status) = returncode if status != 0 and show_output: self.progress("Process failed (%s)" % str(returncode)) raise subprocess.CalledProcessError( returncode, cmd_list) 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 create_string(self): ret = "" 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) for compiled_in_feature_define in sorted(compiled_in_feature_defines): ret += compiled_in_feature_define + "\n" for remaining in sorted(remaining_build_options_defines): ret += "!" + remaining + "\n" return ret def run(self): print(self.create_string()) if __name__ == '__main__': parser = optparse.OptionParser("extract_features.py FILENAME") cmd_opts, cmd_args = parser.parse_args() if len(cmd_args) < 1: parser.print_help() sys.exit(1) filename = cmd_args[0] ef = ExtractFeatures(filename) ef.run()