mirror of https://github.com/ArduPilot/ardupilot
433 lines
20 KiB
Python
Executable File
433 lines
20 KiB
Python
Executable File
#!/usr/bin/env python
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"""
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script to determine what features have been built into an ArduPilot binary
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AP_FLAKE8_CLEAN
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"""
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import argparse
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import os
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import re
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import string
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import subprocess
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import sys
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import time
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import build_options
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import select
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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 ExtractFeatures(object):
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def __init__(self, filename, nm="arm-none-eabi-nm"):
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self.filename = filename
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self.nm = nm
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# feature_name should match the equivalent feature in
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# build_options.py ('FEATURE_NAME', 'EXPECTED_SYMBOL').
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# EXPECTED_SYMBOL is a regular expression which will be matched
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# against "define" in build_options's feature list, and
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# FEATURE_NAME will have substitutions made from the match.
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# the substitutions will be upper-cased
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self.features = [
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('AP_ADVANCEDFAILSAFE_ENABLED', r'AP_AdvancedFailsafe::heartbeat\b',),
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('AP_BOOTLOADER_FLASHING_ENABLED', 'ChibiOS::Util::flash_bootloader',),
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('AP_AIRSPEED_ENABLED', 'AP_Airspeed::AP_Airspeed',),
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('AP_AIRSPEED_{type}_ENABLED', r'AP_Airspeed_(?P<type>.*)::init',),
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('AC_PRECLAND_ENABLED', 'AC_PrecLand::AC_PrecLand',),
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('AC_PRECLAND_ENABLED', 'AC_PrecLand::AC_PrecLand',),
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('AC_PRECLAND_{type}_ENABLED', 'AC_PrecLand_(?P<type>.*)::update',),
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('HAL_ADSB_ENABLED', 'AP_ADSB::AP_ADSB',),
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('HAL_ADSB_{type}_ENABLED', r'AP_ADSB_(?P<type>.*)::update',),
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('HAL_ADSB_UCP_ENABLED', 'AP_ADSB_uAvionix_UCP::update',),
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('AP_COMPASS_{type}_ENABLED', r'AP_Compass_(?P<type>.*)::read\b',),
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('AP_COMPASS_ICM20948_ENABLED', r'AP_Compass_AK09916::probe_ICM20948',),
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('AP_AIS_ENABLED', 'AP_AIS::AP_AIS',),
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('HAL_EFI_ENABLED', 'AP_EFI::AP_EFI',),
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('AP_EFI_{type}_ENABLED', 'AP_EFI_(?P<type>.*)::update',),
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('AP_TEMPERATURE_SENSOR_ENABLED', 'AP_TemperatureSensor::AP_TemperatureSensor',),
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('AP_TEMPERATURE_SENSOR_{type}_ENABLED', 'AP_TemperatureSensor_(?P<type>.*)::update',),
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('AP_BEACON_ENABLED', 'AP_Beacon::AP_Beacon',),
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('HAL_TORQEEDO_ENABLED', 'AP_Torqeedo::AP_Torqeedo'),
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('HAL_NAVEKF3_AVAILABLE', 'NavEKF3::NavEKF3',),
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('HAL_NAVEKF2_AVAILABLE', 'NavEKF2::NavEKF2',),
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('HAL_EXTERNAL_AHRS_ENABLED', r'AP_ExternalAHRS::init\b',),
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('AP_EXTERNAL_AHRS_{type}_ENABLED', r'AP_ExternalAHRS_{type}::healthy\b',),
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('HAL_INS_TEMPERATURE_CAL_ENABLE', 'AP_InertialSensor::TCal::Learn::save_calibration',),
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('HAL_VISUALODOM_ENABLED', 'AP_VisualOdom::init',),
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('AP_RANGEFINDER_ENABLED', 'RangeFinder::RangeFinder',),
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('AP_RANGEFINDER_{type}_ENABLED', r'AP_RangeFinder_(?P<type>.*)::update\b',),
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('AP_RANGEFINDER_{type}_ENABLED', r'AP_RangeFinder_(?P<type>.*)::get_reading\b',),
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('AP_RANGEFINDER_{type}_ENABLED', r'AP_RangeFinder_(?P<type>.*)::model_dist_max_cm\b',),
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('AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED', r'AP_RangeFinder_LightWareSerial::get_reading\b',),
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('AP_RANGEFINDER_LWI2C_ENABLED', r'AP_RangeFinder_LightWareI2C::update\b',),
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('AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED', r'AP_RangeFinder_MaxsonarSerialLV::get_reading\b',),
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('AP_RANGEFINDER_TRI2C_ENABLED', r'AP_RangeFinder_TeraRangerI2C::update\b',),
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('AP_GPS_{type}_ENABLED', r'AP_GPS_(?P<type>.*)::read\b',),
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('AP_OPTICALFLOW_ENABLED', 'AP_OpticalFlow::AP_OpticalFlow',),
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('AP_OPTICALFLOW_{type}_ENABLED', r'AP_OpticalFlow_(?P<type>.*)::update\b',),
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('AP_BARO_{type}_ENABLED', r'AP_Baro_(?P<type>.*)::update\b',),
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('AP_MOTORS_FRAME_{type}_ENABLED', r'AP_MotorsMatrix::setup_(?P<type>.*)_matrix\b',),
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('HAL_MSP_ENABLED', r'AP_MSP::init\b',),
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('HAL_MSP_{type}_ENABLED', r'AP_(?P<type>.*)_MSP::update\b',),
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('HAL_MSP_{type}_ENABLED', r'AP_(?P<type>.*)_MSP::read\b',),
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('HAL_WITH_MSP_DISPLAYPORT', r'AP_OSD_MSP_DisplayPort::init\b',),
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('AP_BATTERY_{type}_ENABLED', r'AP_BattMonitor_(?P<type>.*)::init\b',),
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('AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED', r'AP_BattMonitor_Backend::update_esc_telem_outbound\b',),
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('HAL_MOUNT_ENABLED', 'AP_Mount::AP_Mount',),
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('HAL_MOUNT_{type}_ENABLED', r'AP_Mount_(?P<type>.*)::update\b',),
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('HAL_SOLO_GIMBAL_ENABLED', 'AP_Mount_SoloGimbal::init',),
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('HAL_MOUNT_STORM32SERIAL_ENABLED', 'AP_Mount_SToRM32_serial::init',),
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('HAL_MOUNT_STORM32MAVLINK_ENABLED', 'AP_Mount_SToRM32::init',),
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('HAL_{type}_TELEM_ENABLED', r'AP_(?P<type>.*)_Telem::init',),
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('HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED', 'AP_CRSF_Telem::calc_text_selection',),
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('AP_LTM_TELEM_ENABLED', 'AP_LTM_Telem::init',),
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('HAL_HIGH_LATENCY2_ENABLED', 'GCS_MAVLINK::handle_control_high_latency',),
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('AP_FRSKY_TELEM_ENABLED', 'AP::frsky_telem',),
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('AP_FRSKY_D_TELEM_ENABLED', 'AP_Frsky_D::send',),
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('AP_FRSKY_SPORT_TELEM_ENABLED', 'AP_Frsky_SPort::send_sport_frame',),
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('AP_FRSKY_SPORT_PASSTHROUGH_ENABLED', 'AP::frsky_passthrough_telem',),
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('MODE_{type}_ENABLED', r'Mode(?P<type>.+)::init',),
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('MODE_GUIDED_NOGPS_ENABLED', r'ModeGuidedNoGPS::init',),
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('AP_CAMERA_ENABLED', 'AP_Camera::var_info',),
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('AP_CAMERA_{type}_ENABLED', 'AP_Camera_(?P<type>.*)::trigger_pic',),
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('HAL_RUNCAM_ENABLED', 'AP_RunCam::AP_RunCam',),
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('HAL_PROXIMITY_ENABLED', 'AP_Proximity::AP_Proximity',),
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('AP_PROXIMITY_{type}_ENABLED', 'AP_Proximity_(?P<type>.*)::update',),
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('AP_PROXIMITY_CYGBOT_ENABLED', 'AP_Proximity_Cygbot_D1::update',),
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('AP_PROXIMITY_LIGHTWARE_{type}_ENABLED', 'AP_Proximity_LightWare(?P<type>.*)::update',),
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('HAL_PARACHUTE_ENABLED', 'AP_Parachute::update',),
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('AP_FENCE_ENABLED', r'AC_Fence::check\b',),
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('HAL_RALLY_ENABLED', r'AP_Rally::get_rally_max\b',),
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('AC_AVOID_ENABLED', 'AC_Avoid::AC_Avoid',),
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('AC_OAPATHPLANNER_ENABLED', 'AP_OAPathPlanner::AP_OAPathPlanner',),
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('AP_ICENGINE_ENABLED', 'AP_ICEngine::AP_ICEngine',),
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('HAL_EFI_ENABLED', 'AP_RPM_EFI::AP_RPM_EFI',),
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('AP_EFI_NWPWU_ENABLED', r'AP_EFI_NWPMU::update\b',),
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('AP_EFI_CURRAWONG_ECU_ENABLED', r'AP_EFI_Currawong_ECU::update\b',),
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('HAL_GENERATOR_ENABLED', 'AP_Generator::AP_Generator',),
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('AP_GENERATOR_{type}_ENABLED', r'AP_Generator_(?P<type>.*)::init',),
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('OSD_ENABLED', 'AP_OSD::update_osd',),
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('HAL_PLUSCODE_ENABLE', 'AP_OSD_Screen::draw_pluscode',),
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('OSD_PARAM_ENABLED', 'AP_OSD_ParamScreen::AP_OSD_ParamScreen',),
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('HAL_OSD_SIDEBAR_ENABLE', 'AP_OSD_Screen::draw_sidebars',),
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('AP_VIDEOTX_ENABLED', 'AP_VideoTX::AP_VideoTX',),
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('AP_SMARTAUDIO_ENABLED', 'AP_SmartAudio::AP_SmartAudio',),
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('AP_TRAMP_ENABLED', 'AP_Tramp::AP_Tramp',),
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('HAL_QUADPLANE_ENABLED', 'QuadPlane::QuadPlane',),
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('QAUTOTUNE_ENABLED', 'ModeQAutotune::_enter',),
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('HAL_SOARING_ENABLED', 'SoaringController::var_info',),
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('HAL_LANDING_DEEPSTALL_ENABLED', r'AP_Landing_Deepstall::terminate\b',),
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('AP_GRIPPER_ENABLED', r'AP_Gripper::init\b',),
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('HAL_SPRAYER_ENABLED', 'AC_Sprayer::AC_Sprayer',),
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('AP_LANDINGGEAR_ENABLED', r'AP_LandingGear::init\b',),
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('AP_WINCH_ENABLED', 'AP_Winch::AP_Winch',),
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('AP_RELAY_ENABLED', 'AP_Relay::init',),
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('AP_SERVORELAYEVENTS_ENABLED', 'AP_ServoRelayEvents::update_events',),
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('AP_RCPROTOCOL_ENABLED', r'AP_RCProtocol::init\b',),
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('AP_RCPROTOCOL_{type}_ENABLED', r'AP_RCProtocol_(?P<type>.*)::_process_byte\b',),
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('AP_RCPROTOCOL_{type}_ENABLED', r'AP_RCProtocol_(?P<type>.*)::_process_pulse\b',),
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('AP_VOLZ_ENABLED', r'AP_Volz_Protocol::init\b',),
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('AP_DRONECAN_VOLZ_FEEDBACK_ENABLED', r'AP_DroneCAN::handle_actuator_status_Volz\b',),
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('AP_ROBOTISSERVO_ENABLED', r'AP_RobotisServo::init\b',),
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('AP_FETTEC_ONEWIRE_ENABLED', r'AP_FETtecOneWire::init\b',),
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('AP_SBUSOUTPUT_ENABLED', 'AP_SBusOut::sbus_format_frame',),
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('AP_KDECAN_ENABLED', r'AP_KDECAN::update\b',),
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('AP_RPM_ENABLED', 'AP_RPM::AP_RPM',),
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('AP_RPM_{type}_ENABLED', r'AP_RPM_(?P<type>.*)::update',),
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('GPS_MOVING_BASELINE', r'AP_GPS_Backend::calculate_moving_base_yaw\b',),
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('AP_DRONECAN_SEND_GPS', r'AP_GPS_DroneCAN::instance_exists\b',),
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('HAL_WITH_DSP', r'AP_HAL::DSP::find_peaks\b',),
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('HAL_GYROFFT_ENABLED', r'AP_GyroFFT::AP_GyroFFT\b',),
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('HAL_DISPLAY_ENABLED', r'Display::init\b',),
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('HAL_NMEA_OUTPUT_ENABLED', r'AP_NMEA_Output::update\b',),
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('HAL_BARO_WIND_COMP_ENABLED', r'AP_Baro::wind_pressure_correction\b',),
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('HAL_PICCOLO_CAN_ENABLE', r'AP_PiccoloCAN::update',),
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('EK3_FEATURE_EXTERNAL_NAV', r'NavEKF3::writeExtNavVelData'),
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('EK3_FEATURE_DRAG_FUSION', r'NavEKF3_core::FuseDragForces'),
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('AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED', r'RC_Channel::lookuptable',),
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('AP_SCRIPTING_ENABLED', r'AP_Scripting::init',),
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('AP_NOTIFY_TONEALARM_ENABLED', r'AP_ToneAlarm::init'),
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('AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED', r'AP_Notify::handle_play_tune'),
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('AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED', r'AP_Notify::handle_led_control'),
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('AP_NOTIFY_NCP5623_ENABLED', r'NCP5623::write'),
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('AP_NOTIFY_PROFILED_ENABLED', r'ProfiLED::init_ports'),
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('AP_NOTIFY_PROFILED_SPI_ENABLED', r'ProfiLED_SPI::rgb_set_id'),
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('AP_NOTIFY_NEOPIXEL_ENABLED', r'NeoPixel::init_ports'),
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('AP_FILESYSTEM_FORMAT_ENABLED', r'AP_Filesystem::format'),
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('AP_FILESYSTEM_{type}_ENABLED', r'AP_Filesystem_(?P<type>.*)::open'),
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('AP_INERTIALSENSOR_KILL_IMU_ENABLED', r'AP_InertialSensor::kill_imu'),
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('AP_CRASHDUMP_ENABLED', 'CrashCatcher_DumpMemory'),
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('AP_CAN_SLCAN_ENABLED', 'SLCAN::CANIface::var_info'),
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('AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT', 'AC_PolyFence_loader::handle_msg_fetch_fence_point'),
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('AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED', 'GCS_MAVLINK::handle_common_rally_message'),
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('AP_SDCARD_STORAGE_ENABLED', 'StorageAccess::attach_file'),
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('AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED', 'GCS_MAVLINK::handle_send_autopilot_version'),
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('AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'GCS_MAVLINK::handle_command_request_autopilot_capabilities'), # noqa
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('AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'GCS_MAVLINK::send_relay_status'),
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('AP_MAVLINK_BATTERY2_ENABLED', 'GCS_MAVLINK::send_battery2'),
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('AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED', 'AP_Mount::handle_mount_control'),
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('AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED', 'AP_Mount::handle_mount_configure'),
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('AP_MAVLINK_MSG_DEVICE_OP_ENABLED', 'GCS_MAVLINK::handle_device_op_write'),
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('AP_MAVLINK_SERVO_RELAY_ENABLED', 'GCS_MAVLINK::handle_servorelay_message'),
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('AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED', 'GCS_MAVLINK::handle_serial_control'),
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('AP_DRONECAN_HIMARK_SERVO_SUPPORT', 'AP_DroneCAN::SRV_send_himark'),
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('AP_DRONECAN_HOBBYWING_ESC_SUPPORT', 'AP_DroneCAN::hobbywing_ESC_update'),
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('COMPASS_CAL_ENABLED', 'CompassCalibrator::stop'),
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('AP_TUNING_ENABLED', 'AP_Tuning::check_input'),
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]
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def progress(self, msg):
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"""Pretty-print progress."""
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print("EF: %s" % msg)
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def validate_features_list(self):
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'''ensures that every define present in build_options.py could be
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found by in our features list'''
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# a list of problematic defines we don't have fixes for ATM:
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whitelist = frozenset([
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'HAL_PERIPH_SUPPORT_LONG_CAN_PRINTF', # this define changes single method body, hard to detect?
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'AP_PLANE_BLACKBOX_LOGGING', # no visible signature
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])
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for option in build_options.BUILD_OPTIONS:
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if option.define in whitelist:
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continue
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matched = False
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for (define, _) in self.features:
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# replace {type} with "match any number of word characters'''
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define_re = "^" + re.sub(r"{type}", "\\\\w+", define) + "$"
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# print("define re is (%s)" % define_re)
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if re.match(define_re, option.define):
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matched = True
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break
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if not matched:
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raise ValueError("feature (%s) is not matched in extract_features" %
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(option.define))
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def run_program(self, prefix, cmd_list, show_output=True, env=None):
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"""Swiped from build_binaries.py."""
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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.PIPE,
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env=env)
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stderr = bytearray()
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output = ""
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while True:
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# read all of stderr:
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while True:
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(rin, _, _) = select.select([p.stderr.fileno()], [], [], 0)
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if p.stderr.fileno() not in rin:
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break
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new = p.stderr.read()
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if len(new) == 0:
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break
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stderr += new
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x = p.stdout.readline()
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if len(x) == 0:
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(rin, _, _) = select.select([p.stderr.fileno()], [], [], 0)
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if p.stderr.fileno() in rin:
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stderr += p.stderr.read()
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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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stderr = stderr.decode('utf-8')
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self.progress("Process failed (%s) (%s)" %
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(str(returncode), stderr))
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raise subprocess.CalledProcessError(
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status, cmd_list, output=str(output), stderr=str(stderr))
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return output
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class Symbols(object):
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def __init__(self):
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self.symbols = dict()
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self.symbols_without_arguments = dict()
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def add(self, key, attributes):
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self.symbols[key] = attributes
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# also keep around the same symbol name without arguments.
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# if the key is already present then the attributes become
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# None as there are multiple possible answers...
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m = re.match("^([^(]+).*", key)
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if m is None:
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extracted_symbol_name = key
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else:
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extracted_symbol_name = m.group(1)
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# print("Adding (%s)" % str(extracted_symbol_name))
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if extracted_symbol_name in self.symbols_without_arguments:
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self.symbols_without_arguments[extracted_symbol_name] = None
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else:
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self.symbols_without_arguments[extracted_symbol_name] = attributes
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def dict_for_symbol(self, symbol):
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if '(' not in symbol:
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some_dict = self.symbols_without_arguments
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else:
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some_dict = self.symbols
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return some_dict
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def extract_symbols_from_elf(self, filename):
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"""Parses ELF in filename, returns dict of symbols=>attributes."""
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text_output = self.run_program('EF', [
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self.nm,
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'--demangle',
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'--print-size',
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filename
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], show_output=False)
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ret = ExtractFeatures.Symbols()
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for line in text_output.split("\n"):
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m = re.match("^([^ ]+) ([^ ]+) ([^ ]) (.*)", line.rstrip())
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if m is None:
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m = re.match("^([^ ]+) ([^ ]) (.*)", line.rstrip())
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if m is None:
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# raise ValueError("Did not match (%s)" % line)
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# 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()
|