autotest: added --ubsan and --ubsan-abort to sim_vehicle.py and autotest.py

allows for undefined behaviour checking in SITL

Tools/autotest/autotest.py

@@ -447,6 +447,8 @@ def run_step(step):
         "extra_configure_args": opts.waf_configure_args,
         "coverage": opts.coverage,
         "sitl_32bit" : opts.sitl_32bit,
+        "ubsan" : opts.ubsan,
+        "ubsan_abort" : opts.ubsan_abort,
     }
 
     if opts.Werror:
@@ -959,6 +961,16 @@ if __name__ == "__main__":
                            action='store_true',
                            dest="sitl_32bit",
                            help="compile sitl using 32-bit")
+    group_build.add_option("", "--ubsan",
+                           default=False,
+                           action='store_true',
+                           dest="ubsan",
+                           help="compile sitl with undefined behaviour sanitiser")
+    group_build.add_option("", "--ubsan-abort",
+                           default=False,
+                           action='store_true',
+                           dest="ubsan_abort",
+                           help="compile sitl with undefined behaviour sanitiser and abort on error")
     parser.add_option_group(group_build)
 
     group_sim = optparse.OptionGroup(parser, "Simulation options")

Tools/autotest/common.py

@@ -1465,7 +1465,9 @@ class AutoTest(ABC):
                  replay=False,
                  sup_binaries=[],
                  reset_after_every_test=False,
-                 sitl_32bit=False):
+                 sitl_32bit=False,
+                 ubsan=False,
+                 ubsan_abort=False):
 
         self.start_time = time.time()
         global __autotest__ # FIXME; make progress a non-staticmethod
@@ -1491,6 +1493,8 @@ class AutoTest(ABC):
         self.sup_binaries = sup_binaries
         self.reset_after_every_test = reset_after_every_test
         self.sitl_32bit = sitl_32bit
+        self.ubsan = ubsan
+        self.ubsan_abort = ubsan_abort
 
         self.mavproxy = None
         self._mavproxy = None  # for auto-cleanup on failed tests

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, 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, ubsan=False, ubsan_abort=False, extra_args=[], extra_hwdef=None):
     cmd_configure = [relwaf(), "configure", "--board", board]
     if debug:
         cmd_configure.append('--debug')
@@ -113,6 +113,10 @@ def waf_configure(board, j=None, debug=False, math_check_indexes=False, coverage
         cmd_configure.append('--postype-single')
     if sitl_32bit:
         cmd_configure.append('--sitl-32bit')
+    if ubsan:
+        cmd_configure.append('--ubsan')
+    if ubsan_abort:
+        cmd_configure.append('--ubsan-abort')
     if extra_hwdef is not None:
         cmd_configure.extend(['--extra-hwdef', extra_hwdef])
     if j is not None:
@@ -134,7 +138,7 @@ def waf_build(target=None):
     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, extra_configure_args=[]):
+               ekf_single=False, postype_single=False, sitl_32bit=False, ubsan=False, ubsan_abort=False, extra_configure_args=[]):
 
     # first configure
     if configure:
@@ -146,6 +150,8 @@ def build_SITL(build_target, j=None, debug=False, board='sitl', clean=True, conf
                       postype_single=postype_single,
                       coverage=coverage,
                       sitl_32bit=sitl_32bit,
+                      ubsan=ubsan,
+                      ubsan_abort=ubsan_abort,
                       extra_args=extra_configure_args)
 
     # then clean
@@ -161,7 +167,7 @@ def build_SITL(build_target, j=None, debug=False, board='sitl', clean=True, conf
 
 
 def build_examples(board, j=None, debug=False, clean=False, configure=True, math_check_indexes=False, coverage=False,
-                   ekf_single=False, postype_single=False, sitl_32bit=False,
+                   ekf_single=False, postype_single=False, sitl_32bit=False, ubsan=False, ubsan_abort=False,
                    extra_configure_args=[]):
     # first configure
     if configure:
@@ -173,6 +179,8 @@ def build_examples(board, j=None, debug=False, clean=False, configure=True, math
                       postype_single=postype_single,
                       coverage=coverage,
                       sitl_32bit=sitl_32bit,
+                      ubsan=ubsan,
+                      ubsan_abort=ubsan_abort,
                       extra_args=extra_configure_args)
 
     # then clean
@@ -198,7 +206,7 @@ def build_replay(board, j=None, debug=False, clean=False):
     return True
 
 def build_tests(board, j=None, debug=False, clean=False, configure=True, math_check_indexes=False, coverage=False,
-                ekf_single=False, postype_single=False, sitl_32bit=False, extra_configure_args=[]):
+                ekf_single=False, postype_single=False, sitl_32bit=False, ubsan=False, ubsan_abort=False, extra_configure_args=[]):
 
     # first configure
     if configure:
@@ -210,6 +218,8 @@ def build_tests(board, j=None, debug=False, clean=False, configure=True, math_ch
                       postype_single=postype_single,
                       coverage=coverage,
                       sitl_32bit=sitl_32bit,
+                      ubsan=ubsan,
+                      ubsan_abort=ubsan_abort,
                       extra_args=extra_configure_args)
 
     # then clean

Tools/autotest/sim_vehicle.py

@@ -364,6 +364,12 @@ def do_build(opts, frame_options):
     if opts.sitl_32bit:
         cmd_configure.append("--sitl-32bit")
 
+    if opts.ubsan:
+        cmd_configure.append("--ubsan")
+
+    if opts.ubsan_abort:
+        cmd_configure.append("--ubsan-abort")
+
     pieces = [shlex.split(x) for x in opts.waf_configure_args]
     for piece in pieces:
         cmd_configure.extend(piece)
@@ -982,6 +988,16 @@ group_build.add_option("", "--coverage",
                        action='store_true',
                        default=False,
                        help="use coverage build")
+group_build.add_option("", "--ubsan",
+                       default=False,
+                       action='store_true',
+                       dest="ubsan",
+                       help="compile sitl with undefined behaviour sanitiser")
+group_build.add_option("", "--ubsan-abort",
+                       default=False,
+                       action='store_true',
+                       dest="ubsan_abort",
+                       help="compile sitl with undefined behaviour sanitiser and abort on error")
 parser.add_option_group(group_build)
 
 group_sim = optparse.OptionGroup(parser, "Simulation options")