ardupilot/Tools/autotest/test_build_options.py

384 lines
15 KiB
Python
Executable File

#!/usr/bin/env python3
"""
Contains functions used to test the ArduPilot build_options.py structures
To extract feature sizes:
cat >> /tmp/extra-hwdef.dat <<EOF
undef AP_BARO_MS56XX_ENABLED
define AP_BARO_MS56XX_ENABLED 1
EOF
nice time ./Tools/autotest/test_build_options.py --board=CubeOrange --extra-hwdef=/tmp/extra-hwdef.dat --no-run-with-defaults --no-disable-all --no-enable-in-turn | tee /tmp/tbo-out # noqa
grep 'sabling.*saves' /tmp/tbo-out
- note that a lot of the time explicitly disabling features will make the binary larger as the ROMFS includes the generated hwdef.h which will have the extra define in it # noqa
AP_FLAKE8_CLEAN
"""
from __future__ import print_function
import fnmatch
import optparse
import os
from pysim import util
class TestBuildOptionsResult(object):
'''object to return results from a comparison'''
def __init__(self, feature, vehicle, bytes_delta):
self.feature = feature
self.vehicle = vehicle
self.bytes_delta = bytes_delta
class TestBuildOptions(object):
def __init__(self,
match_glob=None,
do_step_disable_all=True,
do_step_disable_none=False,
do_step_disable_defaults=True,
do_step_disable_in_turn=True,
do_step_enable_in_turn=True,
build_targets=None,
board="DevEBoxH7v2",
extra_hwdef=None):
self.extra_hwdef = extra_hwdef
self.sizes_nothing_disabled = None
self.match_glob = match_glob
self.do_step_disable_all = do_step_disable_all
self.do_step_disable_none = do_step_disable_none
self.do_step_run_with_defaults = do_step_disable_defaults
self.do_step_disable_in_turn = do_step_disable_in_turn
self.do_step_enable_in_turn = do_step_enable_in_turn
self.build_targets = build_targets
if self.build_targets is None:
self.build_targets = self.all_targets()
self._board = board
self.results = {}
def must_have_defines_for_board(self, board):
'''return a set of defines which must always be enabled'''
must_have_defines = {
"CubeOrange": frozenset([
'AP_BARO_MS56XX_ENABLED',
'AP_COMPASS_LSM303D_ENABLED',
])
}
return must_have_defines.get(board, frozenset([]))
@staticmethod
def all_targets():
return ['copter', 'plane', 'rover', 'antennatracker', 'sub', 'blimp']
def progress(self, message):
print("###### %s" % message)
# swiped from app.py:
def get_build_options_from_ardupilot_tree(self):
'''return a list of build options'''
import importlib.util
spec = importlib.util.spec_from_file_location(
"build_options.py",
os.path.join(os.path.dirname(os.path.realpath(__file__)),
'..', 'scripts', 'build_options.py'))
mod = importlib.util.module_from_spec(spec)
spec.loader.exec_module(mod)
return mod.BUILD_OPTIONS
def write_defines_to_file(self, defines, filepath):
lines = []
lines.extend(["undef %s\n" % (a, ) for (a, b) in defines.items()])
lines.extend(["define %s %s\n" % (a, b) for (a, b) in defines.items()])
content = "".join(lines)
with open(filepath, "w") as f:
f.write(content)
def get_disable_defines(self, feature, options):
'''returns a hash of (name, value) defines to turn feature off -
recursively gets dependencies'''
ret = {
feature.define: 0,
}
added_one = True
while added_one:
added_one = False
for option in options:
if option.define in ret:
continue
if option.dependency is None:
continue
for dep in option.dependency.split(','):
f = self.get_option_by_label(dep, options)
if f.define not in ret:
continue
print("%s requires %s" % (option.define, f.define))
added_one = True
ret[option.define] = 0
break
return ret
def update_get_enable_defines_for_feature(self, ret, feature, options):
'''recursive function to turn on required feature and what it depends
on'''
ret[feature.define] = 1
if feature.dependency is None:
return
for depname in feature.dependency.split(','):
dep = None
for f in options:
if f.label == depname:
dep = f
if dep is None:
raise ValueError("Invalid dep (%s) for feature (%s)" %
(depname, feature.label))
self.update_get_enable_defines_for_feature(ret, dep, options)
def get_enable_defines(self, feature, options):
'''returns a hash of (name, value) defines to turn all features *but* feature (and whatever it depends on) on'''
ret = self.get_disable_all_defines()
self.update_get_enable_defines_for_feature(ret, feature, options)
for define in self.must_have_defines_for_board(self._board):
ret[define] = 1
return ret
def test_disable_feature(self, feature, options):
defines = self.get_disable_defines(feature, options)
if len(defines.keys()) > 1:
self.progress("Disabling %s disables (%s)" % (
feature.define,
",".join(defines.keys())))
self.test_compile_with_defines(defines)
def test_enable_feature(self, feature, options):
defines = self.get_enable_defines(feature, options)
enabled = list(filter(lambda x : bool(defines[x]), defines.keys()))
if len(enabled) > 1:
self.progress("Enabling %s enables (%s)" % (
feature.define,
",".join(enabled)))
self.test_compile_with_defines(defines)
def board(self):
'''returns board to build for'''
return self._board
def test_compile_with_defines(self, defines):
extra_hwdef_filepath = "/tmp/extra.hwdef"
self.write_defines_to_file(defines, extra_hwdef_filepath)
if self.extra_hwdef is not None:
content = open(self.extra_hwdef, "r").read()
with open(extra_hwdef_filepath, "a") as f:
f.write(content)
util.waf_configure(
self.board(),
extra_hwdef=extra_hwdef_filepath,
)
for t in self.build_targets:
try:
util.run_cmd([util.relwaf(), t])
except Exception:
print("Failed to build (%s) with things disabled" %
(t,))
raise
def find_build_sizes(self):
'''returns a hash with size of all build targets'''
ret = {}
target_to_binpath = {
"copter": "arducopter",
"plane": "arduplane",
"rover": "ardurover",
"antennatracker": "antennatracker",
"sub": "ardusub",
"blimp": "blimp",
}
for target in self.build_targets:
path = os.path.join("build", self.board(), "bin", "%s.bin" % target_to_binpath[target])
ret[target] = os.path.getsize(path)
return ret
def csv_for_results(self, results):
'''return a string with csv for results'''
features = sorted(results.keys())
all_vehicles = set()
for feature in features:
all_vehicles.update(list(results[feature].keys()))
sorted_all_vehicles = sorted(list(all_vehicles))
ret = ""
ret += ",".join(["Feature"] + sorted_all_vehicles) + "\n"
for feature in features:
line = [feature]
feature_results = results[feature]
for vehicle in sorted_all_vehicles:
bytes_delta = ""
if vehicle in feature_results:
result = feature_results[vehicle]
bytes_delta = result.bytes_delta
line.append(str(bytes_delta))
ret += ",".join(line) + "\n"
return ret
def disable_in_turn_check_sizes(self, feature, sizes_nothing_disabled):
if not self.do_step_disable_none:
self.progress("disable-none skipped, size comparison not available")
return
current_sizes = self.find_build_sizes()
for (build, new_size) in current_sizes.items():
old_size = sizes_nothing_disabled[build]
self.progress("Disabling %s(%s) on %s saves %u bytes" %
(feature.label, feature.define, build, old_size - new_size))
if feature.define not in self.results:
self.results[feature.define] = {}
self.results[feature.define][build] = TestBuildOptionsResult(feature.define, build, old_size - new_size)
with open("/tmp/some.csv", "w") as f:
f.write(self.csv_for_results(self.results))
def run_disable_in_turn(self):
options = self.get_build_options_from_ardupilot_tree()
if self.match_glob is not None:
options = list(filter(lambda x : fnmatch.fnmatch(x.define, self.match_glob), options))
count = 1
for feature in sorted(options, key=lambda x : x.define):
if feature.define in self.must_have_defines_for_board(self._board):
self.progress("Feature %s(%s) (%u/%u) is a MUST-HAVE" %
(feature.label, feature.define, count, len(options)))
continue
self.progress("Disabling feature %s(%s) (%u/%u)" %
(feature.label, feature.define, count, len(options)))
self.test_disable_feature(feature, options)
count += 1
self.disable_in_turn_check_sizes(feature, self.sizes_nothing_disabled)
def run_enable_in_turn(self):
options = self.get_build_options_from_ardupilot_tree()
if self.match_glob is not None:
options = list(filter(lambda x : fnmatch.fnmatch(x.define, self.match_glob), options))
count = 1
for feature in options:
self.progress("Enabling feature %s(%s) (%u/%u)" %
(feature.label, feature.define, count, len(options)))
self.test_enable_feature(feature, options)
count += 1
def get_option_by_label(self, label, options):
for x in options:
if x.label == label:
return x
raise ValueError("No such option (%s)" % label)
def get_disable_all_defines(self):
'''returns a hash of defines which turns all features off'''
options = self.get_build_options_from_ardupilot_tree()
defines = {}
for feature in options:
if self.match_glob is not None:
if not fnmatch.fnmatch(feature.define, self.match_glob):
continue
defines[feature.define] = 0
for define in self.must_have_defines_for_board(self._board):
defines[define] = 1
return defines
def run_disable_all(self):
defines = self.get_disable_all_defines()
self.test_compile_with_defines(defines)
def run_disable_none(self):
self.test_compile_with_defines({})
self.sizes_nothing_disabled = self.find_build_sizes()
def run_with_defaults(self):
options = self.get_build_options_from_ardupilot_tree()
defines = {}
for feature in options:
defines[feature.define] = feature.default
self.test_compile_with_defines(defines)
def check_deps_consistency(self):
# self.progress("Checking deps consistency")
options = self.get_build_options_from_ardupilot_tree()
for feature in options:
self.get_disable_defines(feature, options)
def run(self):
self.check_deps_consistency()
if self.do_step_run_with_defaults:
self.progress("Running run-with-defaults step")
self.run_with_defaults()
if self.do_step_disable_all:
self.progress("Running disable-all step")
self.run_disable_all()
if self.do_step_disable_none:
self.progress("Running disable-none step")
self.run_disable_none()
if self.do_step_disable_in_turn:
self.progress("Running disable-in-turn step")
self.run_disable_in_turn()
if self.do_step_enable_in_turn:
self.progress("Running enable-in-turn step")
self.run_enable_in_turn()
if __name__ == '__main__':
parser = optparse.OptionParser()
parser.add_option("--define-match-glob",
type='string',
default=None,
help='feature define must match this glob to be tested')
parser.add_option("--no-run-with-defaults",
action='store_true',
help='Do not run the run-with-defaults step')
parser.add_option("--no-disable-all",
action='store_true',
help='Do not run the disable-all step')
parser.add_option("--no-disable-none",
action='store_true',
help='Do not run the disable-none step')
parser.add_option("--no-disable-in-turn",
action='store_true',
help='Do not run the disable-in-turn step')
parser.add_option("--no-enable-in-turn",
action='store_true',
help='Do not run the enable-in-turn step')
parser.add_option("--build-targets",
type='choice',
choices=TestBuildOptions.all_targets(),
action='append',
help='vehicle targets to build')
parser.add_option("--extra-hwdef",
type='string',
default=None,
help="file containing extra hwdef information")
parser.add_option("--board",
type='string',
default="DevEBoxH7v2",
help='board to build for')
opts, args = parser.parse_args()
tbo = TestBuildOptions(
match_glob=opts.define_match_glob,
do_step_disable_all=not opts.no_disable_all,
do_step_disable_none=not opts.no_disable_none,
do_step_disable_defaults=not opts.no_run_with_defaults,
do_step_disable_in_turn=not opts.no_disable_in_turn,
do_step_enable_in_turn=not opts.no_enable_in_turn,
build_targets=opts.build_targets,
board=opts.board,
extra_hwdef=opts.extra_hwdef,
)
tbo.run()