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ardupilot/Tools/scripts/extract_features.py

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#!/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<type>.*)::init',),
('AC_PRECLAND_ENABLED', 'AC_PrecLand::AC_PrecLand',),
('AC_PRECLAND_ENABLED', 'AC_PrecLand::AC_PrecLand',),
('AC_PRECLAND_{type}_ENABLED', 'AC_PrecLand_(?P<type>.*)::update',),
('HAL_ADSB_ENABLED', 'AP_ADSB::AP_ADSB',),
('HAL_ADSB_{type}_ENABLED', r'AP_ADSB_(?P<type>.*)::update',),
('HAL_ADSB_UCP_ENABLED', 'AP_ADSB_uAvionix_UCP::update',),
('AP_COMPASS_{type}_ENABLED', r'AP_Compass_(?P<type>.*)::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<type>.*)::update',),
('AP_TEMPERATURE_SENSOR_ENABLED', 'AP_TemperatureSensor::AP_TemperatureSensor',),
('AP_TEMPERATURE_SENSOR_{type}_ENABLED', 'AP_TemperatureSensor_(?P<type>.*)::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<type>.*)::update\b',),
('AP_RANGEFINDER_{type}_ENABLED', r'AP_RangeFinder_(?P<type>.*)::get_reading\b',),
('AP_RANGEFINDER_{type}_ENABLED', r'AP_RangeFinder_(?P<type>.*)::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<type>.*)::read\b',),
('AP_OPTICALFLOW_ENABLED', 'AP_OpticalFlow::AP_OpticalFlow',),
('AP_OPTICALFLOW_{type}_ENABLED', r'AP_OpticalFlow_(?P<type>.*)::update\b',),
('AP_BARO_{type}_ENABLED', r'AP_Baro_(?P<type>.*)::update\b',),
('AP_MOTORS_FRAME_{type}_ENABLED', r'AP_MotorsMatrix::setup_(?P<type>.*)_matrix\b',),
('HAL_MSP_ENABLED', r'AP_MSP::init\b',),
('HAL_MSP_{type}_ENABLED', r'AP_(?P<type>.*)_MSP::update\b',),
('HAL_MSP_{type}_ENABLED', r'AP_(?P<type>.*)_MSP::read\b',),
('HAL_WITH_MSP_DISPLAYPORT', r'AP_OSD_MSP_DisplayPort::init\b',),
('AP_BATTERY_{type}_ENABLED', r'AP_BattMonitor_(?P<type>.*)::init\b',),
('AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED', r'AP_BattMonitor_Backend::update_esc_telem_outbound\b',),
('HAL_MOUNT_ENABLED', 'AP_Mount::AP_Mount',),
('HAL_MOUNT_{type}_ENABLED', r'AP_Mount_(?P<type>.*)::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<type>.*)_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<type>.+)::init',),
('MODE_GUIDED_NOGPS_ENABLED', r'ModeGuidedNoGPS::init',),
('AP_CAMERA_ENABLED', 'AP_Camera::var_info',),
('AP_CAMERA_{type}_ENABLED', 'AP_Camera_(?P<type>.*)::trigger_pic',),
('HAL_RUNCAM_ENABLED', 'AP_RunCam::AP_RunCam',),
('HAL_PROXIMITY_ENABLED', 'AP_Proximity::AP_Proximity',),
('AP_PROXIMITY_{type}_ENABLED', 'AP_Proximity_(?P<type>.*)::update',),
('AP_PROXIMITY_CYGBOT_ENABLED', 'AP_Proximity_Cygbot_D1::update',),
('AP_PROXIMITY_LIGHTWARE_{type}_ENABLED', 'AP_Proximity_LightWare(?P<type>.*)::update',),
('HAL_PARACHUTE_ENABLED', 'AP_Parachute::update',),
('AP_FENCE_ENABLED', r'AC_Fence::check\b',),
('HAL_RALLY_ENABLED', r'AP_Rally::get_rally_max\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<type>.*)::init',),
('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<type>.*)::_process_byte\b',),
('AP_RCPROTOCOL_{type}_ENABLED', r'AP_RCProtocol_(?P<type>.*)::_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<type>.*)::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<type>.*)::open'),
('AP_INERTIALSENSOR_KILL_IMU_ENABLED', r'AP_InertialSensor::kill_imu'),
('AP_CRASHDUMP_ENABLED', 'CrashCatcher_DumpMemory'),
('AP_CAN_SLCAN_ENABLED', 'SLCAN::CANIface::var_info'),
('AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT', 'AC_PolyFence_loader::handle_msg_fetch_fence_point'),
('AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED', 'GCS_MAVLINK::handle_common_rally_message'),
('AP_SDCARD_STORAGE_ENABLED', 'StorageAccess::attach_file'),
('AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED', 'GCS_MAVLINK::handle_send_autopilot_version'),
('AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'GCS_MAVLINK::handle_command_request_autopilot_capabilities'), # noqa
('AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'GCS_MAVLINK::send_relay_status'),
('AP_MAVLINK_BATTERY2_ENABLED', 'GCS_MAVLINK::send_battery2'),
('AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED', 'AP_Mount::handle_mount_control'),
('AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED', 'AP_Mount::handle_mount_configure'),
('AP_MAVLINK_MSG_DEVICE_OP_ENABLED', 'GCS_MAVLINK::handle_device_op_write'),
('AP_MAVLINK_SERVO_RELAY_ENABLED', 'GCS_MAVLINK::handle_servorelay_message'),
('AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED', 'GCS_MAVLINK::handle_serial_control'),
]
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()
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