autotest: add support for building alternate binaries

e.g. adding features ordinarily compiled out

Tools/autotest/autotest.py

@@ -9,6 +9,7 @@ Andrew Tridgell, October 2011
 from __future__ import print_function
 import atexit
 import fnmatch
+import copy
 import glob
 import optparse
 import os
@@ -40,6 +41,8 @@ from common import Test
 
 tester = None
 
+build_opts = None
+
 
 def buildlogs_dirpath():
     """Return BUILDLOGS directory path."""
@@ -454,6 +457,8 @@ def run_step(step):
     if opts.Werror:
         build_opts['extra_configure_args'].append("--Werror")
 
+    build_opts = build_opts
+
     vehicle_binary = None
     if step == 'build.Plane':
         vehicle_binary = 'bin/arduplane'
@@ -533,6 +538,7 @@ def run_step(step):
         "logs_dir": buildlogs_dirpath(),
         "sup_binaries": supplementary_binaries,
         "reset_after_every_test": opts.reset_after_every_test,
+        "build_opts": copy.copy(build_opts),
     }
     if opts.speedup is not None:
         fly_opts["speedup"] = opts.speedup

Tools/autotest/common.py

@@ -1467,7 +1467,8 @@ class AutoTest(ABC):
                  reset_after_every_test=False,
                  sitl_32bit=False,
                  ubsan=False,
-                 ubsan_abort=False):
+                 ubsan_abort=False,
+                 build_opts={}):
 
         self.start_time = time.time()
         global __autotest__ # FIXME; make progress a non-staticmethod
@@ -1495,6 +1496,7 @@ class AutoTest(ABC):
         self.sitl_32bit = sitl_32bit
         self.ubsan = ubsan
         self.ubsan_abort = ubsan_abort
+        self.build_opts = build_opts
 
         self.mavproxy = None
         self._mavproxy = None  # for auto-cleanup on failed tests
@@ -4992,6 +4994,32 @@ class AutoTest(ABC):
             dead_parameters_dict[p[0]] = p[1]
         self.set_parameters(dead_parameters_dict, add_to_context=False)
 
+        if getattr(self, "old_binary", None) is not None:
+            self.stop_SITL()
+            with open(self.binary, "wb") as f:
+                f.write(self.old_binary)
+                f.close()
+            self.start_SITL(wipe=False)
+            self.set_streamrate(self.sitl_streamrate())
+
+    def context_start_custom_binary(self, extra_defines={}):
+        # grab copy of current binary:
+        context = self.context_get()
+        if getattr(context, "old_binary", None) is not None:
+            raise ValueError("Not nestable at the moment")
+        with open(self.binary, "rb") as f:
+            self.old_binary = f.read()
+            f.close()
+        build_opts = copy.copy(self.build_opts)
+        build_opts["extra_defines"] = extra_defines
+        util.build_SITL(
+            'bin/arducopter', # FIXME!
+            **build_opts,
+        )
+        self.stop_SITL()
+        self.start_SITL(wipe=False)
+        self.set_streamrate(self.sitl_streamrate())
+
     class Context(object):
         def __init__(self, testsuite):
             self.testsuite = testsuite

Tools/autotest/pysim/util.py

@@ -99,7 +99,7 @@ def relwaf():
     return "./modules/waf/waf-light"
 
 
-def waf_configure(board, j=None, debug=False, math_check_indexes=False, coverage=False, ekf_single=False, postype_single=False, sitl_32bit=False, ubsan=False, ubsan_abort=False, extra_args=[], extra_hwdef=None):
+def waf_configure(board, j=None, debug=False, math_check_indexes=False, coverage=False, ekf_single=False, postype_single=False, sitl_32bit=False, extra_args=[], extra_hwdef=None, ubsan=False, ubsan_abort=False, extra_defines={}):
     cmd_configure = [relwaf(), "configure", "--board", board]
     if debug:
         cmd_configure.append('--debug')
@@ -119,6 +119,8 @@ def waf_configure(board, j=None, debug=False, math_check_indexes=False, coverage
         cmd_configure.append('--ubsan-abort')
     if extra_hwdef is not None:
         cmd_configure.extend(['--extra-hwdef', extra_hwdef])
+    for nv in extra_defines.items():
+        cmd_configure.extend(['--define', "%s=%s" % nv])
     if j is not None:
         cmd_configure.extend(['-j', str(j)])
     pieces = [shlex.split(x) for x in extra_args]
@@ -137,8 +139,23 @@ def waf_build(target=None):
         cmd.append(target)
     run_cmd(cmd, directory=topdir(), checkfail=True)
 
-def build_SITL(build_target, j=None, debug=False, board='sitl', clean=True, configure=True, math_check_indexes=False, coverage=False,
-               ekf_single=False, postype_single=False, sitl_32bit=False, ubsan=False, ubsan_abort=False, extra_configure_args=[]):
+def build_SITL(
+        build_target,
+        board='sitl',
+        clean=True,
+        configure=True,
+        coverage=False,
+        debug=False,
+        ekf_single=False,
+        extra_configure_args=[],
+        extra_defines={},
+        j=None,
+        math_check_indexes=False,
+        postype_single=False,
+        sitl_32bit=False,
+        ubsan=False,
+        ubsan_abort=False,
+):
 
     # first configure
     if configure:
@@ -152,6 +169,7 @@ def build_SITL(build_target, j=None, debug=False, board='sitl', clean=True, conf
                       sitl_32bit=sitl_32bit,
                       ubsan=ubsan,
                       ubsan_abort=ubsan_abort,
+                      extra_defines=extra_defines,
                       extra_args=extra_configure_args)
 
     # then clean

Tools/autotest/sim_vehicle.py

@@ -370,6 +370,9 @@ def do_build(opts, frame_options):
     if opts.ubsan_abort:
         cmd_configure.append("--ubsan-abort")
 
+    for nv in opts.define:
+        cmd_configure.append("--define=%s" % nv)
+
     pieces = [shlex.split(x) for x in opts.waf_configure_args]
     for piece in pieces:
         cmd_configure.extend(piece)
@@ -967,6 +970,11 @@ group_build.add_option("", "--sitl-32bit",
                        action='store_true',
                        dest="sitl_32bit",
                        help="compile sitl using 32-bit")
+group_build.add_option("", "--configure-define",
+                       default=[],
+                       action='append',
+                       dest="define",
+                       help="create a preprocessor define")
 group_build.add_option("", "--rebuild-on-failure",
                        dest="rebuild_on_failure",
                        action='store_true',