Tools: build all vehicles in build-with-disabled-features

Tools/autotest/build-with-disabled-features.py

@@ -34,22 +34,13 @@ from pysim import util
 
 class Builder():
 
-    def __init__(self):
+    def __init__(self, spec):
-        self.config = 'ArduCopter/APM_Config.h'
+        self.config = spec["config"]
-        self.autotest_build = "build.ArduCopter"
+        self.autotest_build = spec["builddir"]
 
         # list other features that have to be disabled when a feature
         # is disabled (recursion not done; be exhaustive):
-        self.reverse_deps = {
+        self.reverse_deps = spec["reverse-deps"]
-            "AC_FENCE": ["AC_AVOID_ENABLED"],
-            "PROXIMITY_ENABLED": ["AC_AVOID_ENABLED"],
-            "AC_RALLY": ["AC_TERRAIN"],
-            "MODE_AUTO_ENABLED": ["AC_TERRAIN", "MODE_GUIDED"],
-            "MODE_RTL_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"],
-            "BEACON_ENABLED": ["AC_AVOID_ENABLED"],
-            "MODE_CIRCLE_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"],
-            "MODE_GUIDED_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"],
-        }
 
     def reverse_deps_for_var(self, var):
         return self.reverse_deps.get(var, [])
@@ -59,29 +50,56 @@ class Builder():
 
     def get_config_variables(self):
         ret = []
+        r = (' *# *define +([A-Z_]+)\s+'
+             '(ENABLED|DISABLED|!HAL_MINIMIZE_FEATURES)')
         with open(util.reltopdir(self.config)) as fd:
             for line in fd:
-                match = re.match('//#define ([A-Z_]+)\s+(ENABLED|DISABLED)',
+                match = re.match(r, line)
-                                 line)
+                if match is None:
-                if match is not None:
+                    continue
-                    ret.append(match.group(1))
+                if match.group(1) in ("ENABLE", "DISABLE",
-        return ret
+                                      "!HAL_MINIMIZE_FEATURES"):
+                    continue
+                ret.append( (match.group(1), match.group(2) ))
+        return set(ret)
 
     def disable_option_in_config(self, var):
         tmpfile = util.reltopdir(self.config) + ".tmp"
         shutil.move(self.config, tmpfile)
-        out_fd = open(self.config, 'w+')
+        with open(self.config, 'w+') as out_fd:
-        with open(util.reltopdir(tmpfile)) as fd:
+            with open(util.reltopdir(tmpfile)) as fd:
-            for line in fd:
+                did_enable = False
-                things_to_toggle = self.reverse_deps_for_var(var)
+                for line in fd:
-                things_to_toggle.append(var)
+                    regex = ' *# *define +%s\s+(ENABLED|DISABLED|!HAL_MINIMIZE_FEATURES)' % (var[0],)
-                for thing in things_to_toggle:
+                    match = re.match(regex, line)
-                    line = re.sub(
+                    if match is not None:
-                        '//(#define\s+%s\s+(ENABLED|DISABLED))' % thing,
+                        if (match.group(1) in ["ENABLED",
-                        "\\1",
+                                               "!HAL_MINIMIZE_FEATURES"]):
-                        line)
+                            fnoo = "DISABLED"
-                out_fd.write(line)
+                        else:
-        out_fd.close()
+                            fnoo = "ENABLED"
+                            did_enable = True
+        
+                        line = "#define %s %s\n" % (var[0], fnoo)
+                    out_fd.write(line)
+            # turn dependencies on or off:
+        tmpfile = util.reltopdir(self.config) + ".tmp-deps"
+        shutil.move(self.config, tmpfile)
+        with open(self.config, 'w+') as out_fd:
+            with open(util.reltopdir(tmpfile)) as fd:
+                for line in fd:
+                    things_to_toggle = self.reverse_deps_for_var(var[0])
+                    for thing in things_to_toggle:
+                        regex = ' *# *define +%s\s+(ENABLED|DISABLED|!HAL_MINIMIZE_FEATURES)' % thing
+                        match = re.match(regex, line)
+                        if match is not None:
+                            if did_enable:
+                                fnoo = "ENABLED"
+                            else:
+                                fnoo = "DISABLED"
+        
+                            line = "#define %s %s\n" % (thing, fnoo)
+                    out_fd.write(line)
 
     def backup_config_filepath(self):
         return util.reltopdir(self.config) + ".backup"
@@ -102,22 +120,92 @@ class Builder():
         return ret == 0
 
     def run(self):
+        self.progress("Doing: %s" % (self.autotest_build,))
         self.backup_config()
         successes = []
         failures = []
         for var in self.get_config_variables():
+            print("var: %s" % str(var))
             self.disable_option_in_config(var)
             if self.build_works():
-                self.progress("%s OK" % var)
+                self.progress("%s OK" % var[0])
-                successes.append(var)
+                successes.append(var[0])
             else:
-                self.progress("%s BAD" % var)
+                self.progress("%s BAD" % var[0])
-                failures.append(var)
+                failures.append(var[0])
             self.restore_config()
 
+        self.successes = successes
+        self.failures = failures
+
         self.progress("Successes: %s" % str(successes))
         self.progress("Failures: %s" % str(failures))
 
+class BuilderCopter(Builder):
+    def get_config_variables(self):
+        ret = []
+        r = '//#define ([A-Z_]+)\s+(ENABLED|DISABLED!HAL_MINIMIZE_FEATURES)'
+        with open(util.reltopdir(self.config)) as fd:
+            for line in fd:
+                print("line: %s" % line)
+                match = re.match(r, line)
+                if match is not None:
+                    ret.append(match.group(1))
+        return ret
+
+
+# read reverse dep "MODE_AUTO_ENABLED": ["AC_TERRAIN", "MODE_GUIDED"] thusly:
+# "if mode-auto is disabled then you must also disable terrain and guided mode"
 
-builder = Builder()
+specs = [
-builder.run()
+    {
+        "config": 'ArduCopter/config.h',
+        "builddir": "build.ArduCopter",
+        "reverse-deps": {
+            "AC_FENCE": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"],
+            "PROXIMITY_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED" ],
+            "AC_RALLY": ["AC_TERRAIN"],
+            "MODE_AUTO_ENABLED": ["AC_TERRAIN", "MODE_GUIDED"],
+            "MODE_RTL_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"],
+            "BEACON_ENABLED": ["AC_AVOID_ENABLED", "MODE_FOLLOW_ENABLED"],
+            "MODE_CIRCLE_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"],
+            "MODE_GUIDED_ENABLED": ["MODE_AUTO_ENABLED", "AC_TERRAIN"],
+            "AC_AVOID_ENABLED": ["MODE_FOLLOW_ENABLED"],
+        },
+    }, {
+        "config": 'ArduPlane/config.h',
+        "builddir": "build.ArduPlane",
+        "reverse-deps": {
+        },
+    }, {
+        "config": 'APMrover2/config.h',
+        "builddir": "build.APMrover2",
+        "reverse-deps": {
+        },
+    }, {
+        "config": 'ArduSub/config.h',
+        "builddir": "build.ArduSub",
+        "reverse-deps": {
+            "AC_FENCE": ["AVOIDANCE_ENABLED"],
+            "PROXIMITY_ENABLED": ["AVOIDANCE_ENABLED"],
+            "AC_RALLY": ["AC_TERRAIN"],
+        },
+    }, {
+        "config": 'AntennaTracker/config.h',
+        "builddir": "build.AntennaTracker",
+        "reverse-deps": {
+        },
+    },
+]
+
+builders = []
+for spec in specs:
+    builder = Builder(spec)
+    builder.run()
+    builders.append(builder)
+
+print("")
+for builder in builders:
+    print("Builder: %s" % builder.autotest_build)
+    print("  Successes: %s" % builder.successes)
+    print("   Failures: %s" % builder.failures)