mirror of https://github.com/ArduPilot/ardupilot
565 lines
20 KiB
Python
Executable File
565 lines
20 KiB
Python
Executable File
#!/usr/bin/env python3
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'''
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Wrapper around elf_diff (https://github.com/noseglasses/elf_diff)
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to create a html report comparing an ArduPilot build across two
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branches
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pip3 install --user elf_diff weasyprint
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AP_FLAKE8_CLEAN
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How to use?
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Starting in the ardupilot directory.
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~/ardupilot $ python Tools/scripts/size_compare_branches.py --branch=[PR_BRANCH_NAME] --vehicle=copter
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Output is placed into ../ELF_DIFF_[VEHICLE_NAME]
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'''
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import copy
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import optparse
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import os
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import shutil
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import string
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import subprocess
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import sys
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import tempfile
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import time
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import board_list
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if sys.version_info[0] < 3:
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running_python3 = False
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else:
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running_python3 = True
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class SizeCompareBranchesResult(object):
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'''object to return results from a comparison'''
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def __init__(self, board, vehicle, bytes_delta, identical):
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self.board = board
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self.vehicle = vehicle
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self.bytes_delta = bytes_delta
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self.identical = identical
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class SizeCompareBranches(object):
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'''script to build and compare branches using elf_diff'''
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def __init__(self,
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branch=None,
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master_branch="master",
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board=["MatekF405-Wing"],
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vehicle=["plane"],
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bin_dir=None,
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run_elf_diff=True,
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all_vehicles=False,
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all_boards=False,
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use_merge_base=True,
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waf_consistent_builds=True,
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extra_hwdef=[],
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extra_hwdef_branch=[],
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extra_hwdef_master=[]):
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if branch is None:
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branch = self.find_current_git_branch()
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self.master_branch = master_branch
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self.branch = branch
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self.board = board
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self.vehicle = vehicle
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self.bin_dir = bin_dir
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self.run_elf_diff = run_elf_diff
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self.extra_hwdef = extra_hwdef
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self.extra_hwdef_branch = extra_hwdef_branch
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self.extra_hwdef_master = extra_hwdef_master
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self.all_vehicles = all_vehicles
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self.all_boards = all_boards
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self.use_merge_base = use_merge_base
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self.waf_consistent_builds = waf_consistent_builds
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if self.bin_dir is None:
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self.bin_dir = self.find_bin_dir()
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self.boards_by_name = {}
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for board in board_list.BoardList().boards:
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self.boards_by_name[board.name] = board
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# map from vehicle names to binary names
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self.vehicle_map = {
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"rover" : "ardurover",
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"copter" : "arducopter",
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"plane" : "arduplane",
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"sub" : "ardusub",
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"heli" : "arducopter-heli",
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"blimp" : "blimp",
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"antennatracker" : "antennatracker",
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"AP_Periph" : "AP_Periph",
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"bootloader": "AP_Bootloader",
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"iofirmware": "iofirmware_highpolh", # FIXME: lowpolh?
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}
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if all_boards:
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self.board = sorted(list(self.boards_by_name.keys()), key=lambda x: x.lower())
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else:
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# validate boards
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all_boards = set(self.boards_by_name.keys())
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for b in self.board:
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if b not in all_boards:
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raise ValueError("Bad board %s" % str(b))
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if all_vehicles:
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self.vehicle = sorted(list(self.vehicle_map.keys()), key=lambda x: x.lower())
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else:
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for v in self.vehicle:
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if v not in self.vehicle_map.keys():
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raise ValueError("Bad vehicle (%s); choose from %s" % (v, ",".join(self.vehicle_map.keys())))
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# some boards we don't have a -bl.dat for, so skip them.
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# TODO: find a way to get this information from board_list:
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self.bootloader_blacklist = set([
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'CubeOrange-SimOnHardWare',
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'fmuv2',
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'fmuv3-bdshot',
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'iomcu',
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'iomcu',
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'iomcu_f103_8MHz',
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'luminousbee4',
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'skyviper-v2450',
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'skyviper-f412-rev1',
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'skyviper-journey',
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'Pixhawk1-1M-bdshot',
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'SITL_arm_linux_gnueabihf',
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])
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# blacklist all linux boards for bootloader build:
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self.bootloader_blacklist.update(self.linux_board_names())
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# ... and esp32 boards:
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self.bootloader_blacklist.update(self.esp32_board_names())
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def linux_board_names(self):
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'''return a list of all Linux board names; FIXME: get this dynamically'''
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# grep 'class.*[(]linux' Tools/ardupilotwaf/boards.py | perl -pe "s/class (.*)\(linux\).*/ '\\1',/"
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return [
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'navigator',
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'erleboard',
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'navio',
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'navio2',
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'edge',
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'zynq',
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'ocpoc_zynq',
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'bbbmini',
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'blue',
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'pocket',
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'pxf',
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'bebop',
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'vnav',
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'disco',
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'erlebrain2',
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'bhat',
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'dark',
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'pxfmini',
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'aero',
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'rst_zynq',
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'obal',
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'SITL_x86_64_linux_gnu',
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]
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def esp32_board_names(self):
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return [
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'esp32buzz',
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'esp32empty',
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'esp32icarous',
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'esp32diy',
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]
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def find_bin_dir(self):
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'''attempt to find where the arm-none-eabi tools are'''
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binary = shutil.which("arm-none-eabi-g++")
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if binary is None:
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raise Exception("No arm-none-eabi-g++?")
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return os.path.dirname(binary)
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# vast amounts of stuff copied into here from build_binaries.py
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def run_program(self, prefix, cmd_list, show_output=True, env=None):
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if show_output:
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self.progress("Running (%s)" % " ".join(cmd_list))
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p = subprocess.Popen(
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cmd_list,
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stdin=None,
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stdout=subprocess.PIPE,
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close_fds=True,
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stderr=subprocess.STDOUT,
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env=env)
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output = ""
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while True:
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x = p.stdout.readline()
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if len(x) == 0:
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returncode = os.waitpid(p.pid, 0)
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if returncode:
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break
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# select not available on Windows... probably...
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time.sleep(0.1)
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continue
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if running_python3:
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x = bytearray(x)
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x = filter(lambda x : chr(x) in string.printable, x)
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x = "".join([chr(c) for c in x])
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output += x
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x = x.rstrip()
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if show_output:
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print("%s: %s" % (prefix, x))
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(_, status) = returncode
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if status != 0:
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self.progress("Process failed (%s)" %
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str(returncode))
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raise subprocess.CalledProcessError(
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returncode, cmd_list)
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return output
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def find_current_git_branch(self):
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output = self.run_git(["symbolic-ref", "--short", "HEAD"])
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output = output.strip()
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return output
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def find_git_branch_merge_base(self, branch, master_branch):
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output = self.run_git(["merge-base", branch, master_branch])
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output = output.strip()
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return output
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def run_git(self, args):
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'''run git with args git_args; returns git's output'''
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cmd_list = ["git"]
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cmd_list.extend(args)
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return self.run_program("SCB-GIT", cmd_list)
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def run_waf(self, args, compiler=None):
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# try to modify the environment so we can consistent builds:
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consistent_build_envs = {
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"CHIBIOS_GIT_VERSION": "12345678",
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"GIT_VERSION": "abcdef",
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"GIT_VERSION_INT": "15",
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}
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for (n, v) in consistent_build_envs.items():
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os.environ[n] = v
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if os.path.exists("waf"):
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waf = "./waf"
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else:
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waf = os.path.join(".", "modules", "waf", "waf-light")
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cmd_list = [waf]
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cmd_list.extend(args)
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env = None
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if compiler is not None:
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# default to $HOME/arm-gcc, but allow for any path with AP_GCC_HOME environment variable
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gcc_home = os.environ.get("AP_GCC_HOME", os.path.join(os.environ["HOME"], "arm-gcc"))
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gcc_path = os.path.join(gcc_home, compiler, "bin")
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if os.path.exists(gcc_path):
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# setup PATH to point at the right compiler, and setup to use ccache
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env = os.environ.copy()
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env["PATH"] = gcc_path + ":" + env["PATH"]
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env["CC"] = "ccache arm-none-eabi-gcc"
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env["CXX"] = "ccache arm-none-eabi-g++"
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else:
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raise Exception("BB-WAF: Missing compiler %s" % gcc_path)
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self.run_program("SCB-WAF", cmd_list, env=env)
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def progress(self, string):
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'''pretty-print progress'''
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print("SCB: %s" % string)
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def build_branch_into_dir(self, board, branch, vehicle, outdir, extra_hwdef=None):
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self.run_git(["checkout", branch])
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self.run_git(["submodule", "update", "--recursive"])
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shutil.rmtree("build", ignore_errors=True)
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waf_configure_args = ["configure", "--board", board]
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if self.waf_consistent_builds:
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waf_configure_args.append("--consistent-builds")
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if extra_hwdef is not None:
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waf_configure_args.extend(["--extra-hwdef", extra_hwdef])
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self.run_waf(waf_configure_args)
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# we can't run `./waf copter blimp plane` without error, so do
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# them one-at-a-time:
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for v in vehicle:
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if v == 'bootloader':
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# need special configuration directive
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continue
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self.run_waf([v])
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for v in vehicle:
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if v != 'bootloader':
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continue
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if board in self.bootloader_blacklist:
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continue
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# need special configuration directive
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bootloader_waf_configure_args = copy.copy(waf_configure_args)
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bootloader_waf_configure_args.append('--bootloader')
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self.run_waf(bootloader_waf_configure_args)
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self.run_waf([v])
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self.run_program("rsync", ["rsync", "-aP", "build/", outdir])
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def run_all(self):
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'''run tests for boards and vehicles passed in constructor'''
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results = {}
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for board in self.board:
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vehicle_results = self.run_board(board)
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results[board] = vehicle_results
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with open("/tmp/some.csv", "w") as f:
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f.write(self.csv_for_results(results))
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return results
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def emit_csv_for_results(self, results):
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'''emit dictionary of dictionaries as a CSV'''
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print(self.csv_for_results(results))
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def csv_for_results(self, results):
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'''return a string with csv for results'''
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boards = sorted(results.keys())
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all_vehicles = set()
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for board in boards:
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all_vehicles.update(list(results[board].keys()))
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sorted_all_vehicles = sorted(list(all_vehicles))
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ret = ""
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ret += ",".join(["Board"] + sorted_all_vehicles) + "\n"
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for board in boards:
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line = [board]
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board_results = results[board]
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for vehicle in sorted_all_vehicles:
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bytes_delta = ""
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if vehicle in board_results:
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result = board_results[vehicle]
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if result.identical:
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bytes_delta = "*"
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else:
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bytes_delta = result.bytes_delta
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line.append(str(bytes_delta))
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ret += ",".join(line) + "\n"
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return ret
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def run(self):
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results = self.run_all()
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self.emit_csv_for_results(results)
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def files_are_identical(self, file1, file2):
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'''returns true if the files have the same content'''
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return open(file1, "rb").read() == open(file2, "rb").read()
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def extra_hwdef_file(self, more):
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# create a combined list of hwdefs:
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extra_hwdefs = []
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extra_hwdefs.extend(self.extra_hwdef)
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extra_hwdefs.extend(more)
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extra_hwdefs = list(filter(lambda x : x is not None, extra_hwdefs))
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if len(extra_hwdefs) == 0:
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return None
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# slurp all content into a variable:
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content = bytearray()
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for extra_hwdef in extra_hwdefs:
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with open(extra_hwdef, "r+b") as f:
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content += f.read()
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# spew content to single file:
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f = tempfile.NamedTemporaryFile(delete=False)
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f.write(content)
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f.close()
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return f.name
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def run_board(self, board):
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ret = {}
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board_info = self.boards_by_name[board]
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vehicles_to_build = []
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for vehicle in self.vehicle:
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if vehicle == 'AP_Periph':
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if not board_info.is_ap_periph:
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continue
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else:
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if board_info.is_ap_periph:
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continue
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# the bootloader target isn't an autobuild target, so
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# it gets special treatment here:
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if vehicle != 'bootloader' and vehicle.lower() not in [x.lower() for x in board_info.autobuild_targets]:
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continue
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vehicles_to_build.append(vehicle)
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if len(vehicles_to_build) == 0:
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return ret
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tmpdir = tempfile.mkdtemp()
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outdir_1 = os.path.join(tmpdir, "out-master-%s" % (board,))
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outdir_2 = os.path.join(tmpdir, "out-branch-%s" % (board,))
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self.progress("Building branch 1 (%s)" % self.master_branch)
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master_commit = self.master_branch
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if self.use_merge_base:
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master_commit = self.find_git_branch_merge_base(self.branch, self.master_branch)
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self.progress("Using merge base (%s)" % master_commit)
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shutil.rmtree(outdir_1, ignore_errors=True)
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self.build_branch_into_dir(
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board,
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master_commit,
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vehicles_to_build,
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outdir_1,
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extra_hwdef=self.extra_hwdef_file(self.extra_hwdef_master)
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)
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self.progress("Building branch 2 (%s)" % self.branch)
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shutil.rmtree(outdir_2, ignore_errors=True)
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self.build_branch_into_dir(
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board,
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self.branch,
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vehicles_to_build,
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outdir_2,
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self.extra_hwdef_file(self.extra_hwdef_branch)
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)
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for vehicle in vehicles_to_build:
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if vehicle == 'bootloader' and board in self.bootloader_blacklist:
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continue
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elf_filename = self.vehicle_map[vehicle]
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bin_filename = self.vehicle_map[vehicle] + '.bin'
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if self.run_elf_diff:
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master_elf_dirname = "bin"
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new_elf_dirname = "bin"
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if vehicle == 'bootloader':
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# elfs for bootloaders are in the bootloader directory...
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master_elf_dirname = "bootloader"
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new_elf_dirname = "bootloader"
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master_elf_dir = os.path.join(outdir_1, board, master_elf_dirname)
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new_elf_dir = os.path.join(outdir_2, board, new_elf_dirname)
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self.progress("Starting compare (~10 minutes!)")
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elf_diff_commandline = [
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"time",
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"python3",
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"-m", "elf_diff",
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"--bin_dir", self.bin_dir,
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'--bin_prefix=arm-none-eabi-',
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"--old_alias", "%s %s" % (self.master_branch, elf_filename),
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"--new_alias", "%s %s" % (self.branch, elf_filename),
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"--html_dir", "../ELF_DIFF_%s_%s" % (board, vehicle),
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os.path.join(master_elf_dir, elf_filename),
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os.path.join(new_elf_dir, elf_filename)
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]
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self.run_program("SCB", elf_diff_commandline)
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master_bin_dir = os.path.join(outdir_1, board, "bin")
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new_bin_dir = os.path.join(outdir_2, board, "bin")
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try:
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master_path = os.path.join(master_bin_dir, bin_filename)
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new_path = os.path.join(new_bin_dir, bin_filename)
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master_size = os.path.getsize(master_path)
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new_size = os.path.getsize(new_path)
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except FileNotFoundError:
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master_path = os.path.join(master_bin_dir, elf_filename)
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new_path = os.path.join(new_bin_dir, elf_filename)
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master_size = os.path.getsize(master_path)
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new_size = os.path.getsize(new_path)
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identical = self.files_are_identical(master_path, new_path)
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ret[vehicle] = SizeCompareBranchesResult(board, vehicle, new_size - master_size, identical)
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return ret
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if __name__ == '__main__':
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parser = optparse.OptionParser("size_compare_branches.py")
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parser.add_option("",
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"--elf-diff",
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action="store_true",
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default=False,
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help="run elf_diff on output files")
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parser.add_option("",
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"--master-branch",
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type="string",
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default="master",
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help="master branch to use")
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parser.add_option("",
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"--no-merge-base",
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action="store_true",
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default=False,
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help="do not use the merge-base for testing, do a direct comparison between branches")
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parser.add_option("",
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"--no-waf-consistent-builds",
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action="store_true",
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default=False,
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help="do not use the --consistent-builds waf command-line option (for older branches)")
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parser.add_option("",
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"--branch",
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|
type="string",
|
|
default=None,
|
|
help="branch to compare")
|
|
parser.add_option("",
|
|
"--vehicle",
|
|
action='append',
|
|
default=[],
|
|
help="vehicle to build for")
|
|
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,
|
|
)
|
|
x.run()
|