#!/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 optparse
import os
import shutil
import string
import subprocess
import sys
import tempfile
import time
import board_list
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,
all_boards=False,
use_merge_base=True,
waf_consistent_builds=True,
show_empty=True,
extra_hwdef=[],
extra_hwdef_branch=[],
extra_hwdef_master=[]):
if branch is None:
branch = self.find_current_git_branch()
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
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())))
# 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',
'fmuv2',
'fmuv3-bdshot',
'iomcu',
'iomcu',
'iomcu_f103_8MHz',
'luminousbee4',
'skyviper-v2450',
'skyviper-f412-rev1',
'skyviper-journey',
'Pixhawk1-1M-bdshot',
'SITL_arm_linux_gnueabihf',
])
# 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',
]
def esp32_board_names(self):
return [
'esp32buzz',
'esp32empty',
'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):
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:
self.progress("Process failed (%s)" %
str(returncode))
raise subprocess.CalledProcessError(
returncode, cmd_list)
return output
def find_current_git_branch(self):
output = self.run_git(["symbolic-ref", "--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):
'''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)
def run_waf(self, args, compiler=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)
def progress(self, string):
'''pretty-print progress'''
print("SCB: %s" % string)
def build_branch_into_dir(self, board, branch, vehicle, outdir, extra_hwdef=None):
self.run_git(["checkout", branch])
self.run_git(["submodule", "update", "--recursive"])
shutil.rmtree("build", 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])
self.run_waf(waf_configure_args)
# 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])
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')
self.run_waf(bootloader_waf_configure_args)
self.run_waf([v])
self.run_program("rsync", ["rsync", "-aP", "build/", outdir])
def run_all(self):
'''run tests for boards and vehicles passed in constructor'''
results = {}
for board in self.board:
vehicle_results = self.run_board(board)
results[board] = vehicle_results
with open("/tmp/some.csv", "w") as f:
f.write(self.csv_for_results(results))
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
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_board(self, board):
ret = {}
board_info = self.boards_by_name[board]
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)
if len(vehicles_to_build) == 0:
return ret
tmpdir = tempfile.mkdtemp()
outdir_1 = os.path.join(tmpdir, "out-master-%s" % (board,))
outdir_2 = os.path.join(tmpdir, "out-branch-%s" % (board,))
self.progress("Building branch 1 (%s)" % self.master_branch)
master_commit = self.master_branch
if self.use_merge_base:
master_commit = self.find_git_branch_merge_base(self.branch, self.master_branch)
self.progress("Using merge base (%s)" % master_commit)
shutil.rmtree(outdir_1, ignore_errors=True)
self.build_branch_into_dir(
board,
master_commit,
vehicles_to_build,
outdir_1,
extra_hwdef=self.extra_hwdef_file(self.extra_hwdef_master)
)
self.progress("Building branch 2 (%s)" % self.branch)
shutil.rmtree(outdir_2, ignore_errors=True)
self.build_branch_into_dir(
board,
self.branch,
vehicles_to_build,
outdir_2,
self.extra_hwdef_file(self.extra_hwdef_branch)
)
for vehicle in vehicles_to_build:
if vehicle == 'bootloader' and board in self.bootloader_blacklist:
continue
elf_filename = self.vehicle_map[vehicle]
bin_filename = self.vehicle_map[vehicle] + '.bin'
if self.run_elf_diff:
master_elf_dirname = "bin"
new_elf_dirname = "bin"
if vehicle == 'bootloader':
# elfs for bootloaders are in the bootloader directory...
master_elf_dirname = "bootloader"
new_elf_dirname = "bootloader"
master_elf_dir = os.path.join(outdir_1, board, master_elf_dirname)
new_elf_dir = os.path.join(outdir_2, board, new_elf_dirname)
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" % (self.master_branch, elf_filename),
"--new_alias", "%s %s" % (self.branch, elf_filename),
"--html_dir", "../ELF_DIFF_%s_%s" % (board, vehicle),
os.path.join(master_elf_dir, elf_filename),
os.path.join(new_elf_dir, elf_filename)
]
self.run_program("SCB", elf_diff_commandline)
master_bin_dir = os.path.join(outdir_1, board, "bin")
new_bin_dir = os.path.join(outdir_2, board, "bin")
try:
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:
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)
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("",
"--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("",
"--all-vehicles",
action='store_true',
default=False,
help="Build all vehicles")
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,
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,
)
x.run()