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ardupilot/Tools/scripts/extract_features.py
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Peter Barker d437708812 Tools: add @MAV_LOG build option 
@MAV_LOG has no class of its own to find in the symbol table, so it is
detected by its prefix string, which only the backend table row puts in the
binary. That row is also only built where logs go to a filesystem, so the
option depends on Logging.
2026-09-22 11:10:46 +10:00

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#!/usr/bin/env python3
"""
script to determine what features have been built into an ArduPilot binary
AP_FLAKE8_CLEAN
"""
import argparse
import re
import build_options
from build_script_base import BuildScriptBase
class ExtractFeatures(BuildScriptBase):
class FindString(object):
def __init__(self, string):
self.string = string
def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
super().__init__()
self.filename = filename
self.nm = nm
self.strings = strings
# 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', r'AP_AdvancedFailsafe::heartbeat\b',),
('AP_BOOTLOADER_FLASHING_ENABLED', 'ChibiOS::Util::flash_bootloader',),
('AP_REBOOT_MASS_STORAGE_ENABLED', r'ChibiOS::usb_msd_run',),
('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>.*)::probe\b',),
('AP_COMPASS_ICM20948_ENABLED', r'AP_Compass_AK09916::probe_ICM20948',),
('AP_COMPASS_AK8963_ENABLED', r'AP_Compass_AK8963::probe_mpu9250',),
('AP_COMPASS_HMC5843_ENABLED', r'AP_Compass_HMC5843::probe_mpu6000',),
('AP_COMPASS_DRONECAN_HIRES_ENABLED', r'AP_Compass_DroneCAN::handle_magnetic_field_hires',),
('AP_AIS_ENABLED', 'AP_AIS::decode_position_report',),
('HAL_EFI_ENABLED', 'AP_EFI::AP_EFI',),
('AP_EFI_{type}_ENABLED', 'AP_EFI_(?P<type>.*)::update',),
('HAL_WITH_ESC_TELEM', r'AP_ESC_Telem::AP_ESC_Telem\b',),
('AP_EXTENDED_ESC_TELEM_ENABLED', r'AP_DroneCAN::handle_esc_ext_status\b',),
('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',),
('AP_EXTERNAL_AHRS_ENABLED', r'AP_ExternalAHRS::init\b',),
('AP_EXTERNAL_AHRS_{type}_ENABLED', r'AP_ExternalAHRS_(?P<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_{type}_ENABLED', r'AP_RangeFinder_(?P<type>.*)::handle_frame\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_RANGEFINDER_JRE_SERIAL_ENABLED', r'AP_RangeFinder_JRE_Serial::get_reading\b',),
('AP_RANGEFINDER_RDS02UF_ENABLED', r'AP_RangeFinder_RDS02UF::get_reading\b',),
('AP_RANGEFINDER_HEXSOONRADAR_ENABLED', r'AP_RangeFinder_NRA24_CAN::handle_frame'),
('AP_RANGEFINDER_LIGHTWARE_GRF_ENABLED', 'AP_RangeFinder_LightWareGRF::get_reading'),
('AP_GPS_NMEA_UNICORE_ENABLED', r'AP_GPS_NMEA::parse_agrica_field',),
('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>.*)::(_calculate|update)\b',),
('AP_MOTORS_TRI_ENABLED', 'AP_MotorsTri::set_frame_class_and_type'),
('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_MSP_INAV_FONTS_ENABLED', r'AP_OSD_MSP_DisplayPort::write_INAV\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',),
('AP_BATTERY_WATT_MAX_ENABLED', r'Plane::throttle_watt_limiter|AP_MotorsUGV::get_power_limit_max_throttle',),
('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::update',),
('HAL_MOUNT_STORM32MAVLINK_ENABLED', 'AP_Mount_SToRM32::update',),
('AP_MOUNT_POI_LOCK_ENABLED', 'AP_Mount::set_poi_lock'),
('HAL_SPEKTRUM_TELEM_ENABLED', r'AP::spektrum_telem',),
('HAL_{type}_TELEM_ENABLED', r'AP_(?P<type>.*)_Telem::init',),
('AP_{type}_TELEM_ENABLED', r'AP_(?P<type>.*)_Telem::init',),
('HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED', 'AP_CRSF_Telem::calc_text_selection',),
('AP_CRSF_SCRIPTING_ENABLED', 'AP_CRSF_Telem::get_menu_event',),
('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_SPort_Passthrough::process_packet',),
('HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL', 'AP_Frsky_SPort_Passthrough::set_telem_data'),
('AP_IBUS_TELEM_ENABLED', 'AP_IBus_Telem::init',),
('MODE_AUTOLAND_ENABLED', 'ModeAutoLand::update'),
('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',),
('AP_CAMERA_SEND_FOV_STATUS_ENABLED', 'AP_Camera::send_camera_fov_status'),
('AP_CAMERA_SEND_THERMAL_RANGE_ENABLED', 'AP_Camera::send_camera_thermal_range'),
('AP_CAMERA_INFO_FROM_SCRIPT_ENABLED', 'AP_Camera_Backend::set_camera_information'),
('AP_CAMERA_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',),
('AP_PROXIMITY_HEXSOONRADAR_ENABLED', 'AP_Proximity_MR72_CAN::update',),
('AP_PROXIMITY_MR72_ENABLED', 'AP_Proximity_MR72_CAN::update',),
('HAL_PARACHUTE_ENABLED', 'AP_Parachute::update',),
('AP_FENCE_ENABLED', r'AC_Fence::check\b',),
('HAL_RALLY_ENABLED', 'AP_Rally::find_nearest_rally_point',),
('AP_AVOIDANCE_ENABLED', 'AC_Avoid::AC_Avoid',),
('AP_AVOIDANCE_ALTHOLD_ENABLED', 'AC_Avoid::adjust_roll_pitch',),
('AP_OAPATHPLANNER_ENABLED', 'AP_OAPathPlanner::AP_OAPathPlanner',),
('AC_PAYLOAD_PLACE_ENABLED', 'PayloadPlace::start_descent'),
('AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED', ExtractFeatures.FindString('PayloadPlace')),
('AP_MOUNT_ROI_WPNEXT_OFFSET_ENABLED', 'AP_Mount_Backend::get_angle_target_to_wpnext_offset'),
('AP_MISSION_MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET_ENABLED', 'AP_Mission::start_command_do_set_roi_wpnext_offset'),
('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',),
('AP_EFI_SERIAL_HIRTH_ENABLED', r'AP_EFI_Serial_Hirth::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',),
('AP_CHECK_FIRMWARE_ENABLED', 'AP_CheckFirmware::check_signed_bootloader',),
('HAL_QUADPLANE_ENABLED', 'QuadPlane::QuadPlane',),
('AP_PLANE_GLIDER_PULLUP_ENABLED', 'GliderPullup::in_pullup',),
('QAUTOTUNE_ENABLED', 'ModeQAutotune::_enter',),
('HAL_SOARING_ENABLED', 'SoaringController::var_info',),
('HAL_LANDING_DEEPSTALL_ENABLED', r'AP_Landing_Deepstall::override_servos',),
('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_WINCH_{type}_ENABLED', r'AP_Winch_(?P<type>.*)::update\b',),
('AP_RELAY_ENABLED', 'AP_Relay::init',),
('AP_SERVORELAYEVENTS_ENABLED', 'AP_ServoRelayEvents::update_events',),
('AP_RCPROTOCOL_ENABLED', r'AP_RCProtocol::init\b',),
('AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED', r'AP_RCProtocol_MAVLinkRadio::update_radio_rc_channels',),
('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_SERVO_TELEM_ENABLED', r'AP_Servo_Telem::update\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',),
('AP_OPENDRONEID_ENABLED', 'AP_OpenDroneID::update',),
('GPS_MOVING_BASELINE', r'MovingBase::var_info',),
('AP_DRONECAN_SEND_GPS', r'AP_GPS_DroneCAN::instance_exists\b',),
('AP_GPS_BLENDED_ENABLED', r'AP_GPS::calc_blend_weights\b',),
('AP_GPS_DEBUG_LOGGING_ENABLED', 'AP_GPS_Backend::log_data',),
('HAL_WITH_DSP', r'AP_HAL::DSP::find_peaks\b',),
('AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED', r'AP_InertialSensor::HarmonicNotch::update_params\b',),
('AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED', r'AP_InertialSensor::BatchSampler::init'),
('AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED', r'FastRateBuffer::get_next_gyro_sample\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',),
('AP_BARO_THST_COMP_ENABLED', r'AP_Baro::thrust_pressure_correction\b',),
('AP_TEMPCALIBRATION_ENABLED', r'AP_TempCalibration::apply_calibration',),
('AP_PICCOLOCAN_ENABLED', r'AP_PiccoloCAN::update',),
('EK3_FEATURE_EXTERNAL_NAV', r'NavEKF3_core::CorrectExtNavVelForSensorOffset'),
('EK3_FEATURE_DRAG_FUSION', r'NavEKF3_core::FuseDragForces'),
('EK3_FEATURE_OPTFLOW_FUSION', r'NavEKF3_core::FuseOptFlow'),
('EK3_FEATURE_OPTFLOW_SRTM', r'NavEKF3_core::writeTerrainData'),
('AP_AHRS_EKF_RESET_ENABLED', r'AP_AHRS::reset_configured_backend'),
('AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED', r'RC_Channel::lookuptable',),
('AP_SCRIPTING_ENABLED', r'AP_Scripting::init',),
('AP_SCRIPTING_SERIALDEVICE_ENABLED', r'AP_Scripting_SerialDevice::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_FILESYSTEM_MAVLOG_ENABLED', ExtractFeatures.FindString('@MAV_LOG')),
('AP_INERTIALSENSOR_KILL_IMU_ENABLED', r'AP_InertialSensor::kill_imu'),
('AP_CRASHDUMP_FLASH_ENABLED', 'crashdump_flash_start'),
('AP_CRASHDUMP_FATFS_ENABLED', 'crashdump_sd_init'),
('AP_MAVLINK_FAILURE_CREATION_ENABLED', 'GCS_MAVLINK::deadlock_sem'),
('AP_CAN_SLCAN_ENABLED', 'SLCAN::CANIface::var_info'),
('AP_ADSB_AVOIDANCE_ENABLED', 'AP_Avoidance::init'),
('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_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'),
('AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED', r'GCS_MAVLINK::handle_mission_request\b'),
('AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED', r'GCS_MAVLINK::send_rc_channels_raw\b'),
('AP_MAVLINK_FTP_ENABLED', 'GCS_FTP::init'),
('AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED', 'Plane::handle_external_hagl'),
('AP_MAVLINK_MAV_CMD_GET_HOME_POSITION_ENABLED', 'GCS_MAVLINK::handle_command_get_home_position'), # noqa
('AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED', 'AP_Camera::send_video_stream_information'),
('AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED', 'GCS_MAVLINK::send_flight_information'),
('AP_MAVLINK_MSG_RANGEFINDER_SENDING_ENABLED', r'GCS_MAVLINK::send_rangefinder'),
('AP_MAVLINK_SIGNING_ENABLED', r'GCS_MAVLINK::load_signing_key'),
('AP_DRONECAN_HIMARK_SERVO_SUPPORT', 'AP_DroneCAN::SRV_send_himark'),
('AP_DRONECAN_HOBBYWING_ESC_SUPPORT', 'AP_DroneCAN::hobbywing_ESC_update'),
('COMPASS_CAL_ENABLED', 'CompassCalibrator::stop'),
('AP_TUNING_ENABLED', 'AP_Tuning::check_input'),
('AP_DRONECAN_SERIAL_ENABLED', 'AP_DroneCAN_Serial::update'),
('AP_SERIALMANAGER_IMUOUT_ENABLED', 'AP_InertialSensor::send_uart_data'),
('AP_NETWORKING_ENABLED', 'AP_Networking::init'),
('AP_NETWORKING_BACKEND_PPP', 'AP_Networking_PPP::init'),
('AP_NETWORKING_CAN_MCAST_ENABLED', 'AP_Networking_CAN::start'),
('AP_NETWORKING_CAPTURE_ENABLED', 'AP_Networking_Backend::capture_pbuf'),
('FORCE_APJ_DEFAULT_PARAMETERS', 'AP_Param::param_defaults_data'),
('HAL_BUTTON_ENABLED', 'AP_Button::update'),
('HAL_LOGGING_ENABLED', 'AP_Logger::init'),
('AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED', 'Compass::mag_cal_fixed_yaw'),
('COMPASS_LEARN_ENABLED', 'CompassLearn::update'),
('AP_COMPASS_LEARN_COPY_FROM_EKF_ENABLED', 'Compass::save_ekf_learned_offsets'),
('AP_CUSTOMROTATIONS_ENABLED', 'AP_CustomRotations::init'),
('AP_OSD_LINK_STATS_EXTENSIONS_ENABLED', r'AP_OSD_Screen::draw_rc_tx_power'),
('HAL_ENABLE_DRONECAN_DRIVERS', r'AP_DroneCAN::init'),
('AP_BARO_PROBE_EXTERNAL_I2C_BUSES', r'AP_Baro::_probe_i2c_barometers'),
('AP_RSSI_ENABLED', r'AP_RSSI::init'),
('AP_FOLLOW_ENABLED', 'AP_Follow::AP_Follow'),
('AP_GROUNDEFFECT_ENABLED', 'AP_GroundEffect::AP_GroundEffect'),
('AP_ROVER_ADVANCED_FAILSAFE_ENABLED', r'Rover::afs_fs_check'),
('AP_ROVER_AUTO_ARM_ONCE_ENABLED', r'Rover::handle_auto_arm_once'),
('AP_COPTER_ADVANCED_FAILSAFE_ENABLED', r'Copter::afs_fs_check'),
('AP_COPTER_AHRS_AUTO_TRIM_ENABLED', r'Copter::AHRSTrimming::auto_run'),
('AP_COPTER_CUSTOMCONTROL_ENABLED', r'AC_CustomControl::update'),
('AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED', r'GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands'),
('AP_SERIALMANAGER_REGISTER_ENABLED', r'AP_SerialManager::register_port'),
('AP_QUICKTUNE_ENABLED', r'AP_Quicktune::update'),
('AP_FILTER_ENABLED', r'AP_Filters::update'),
('AP_CAN_LOGGING_ENABLED', r'AP_CANManager::can_logging_callback'),
('AP_PLANE_SYSTEMID_ENABLED', r'AP_SystemID::start'),
('AP_DDS_ENABLED', r'AP_DDS_Client::start'),
('AP_RC_TRANSMITTER_TUNING_ENABLED', r'Copter::tuning'),
('AP_CPU_IDLE_STATS_ENABLED', r'AP_BoardConfig::use_idle_stats'),
('AP_PERIPH_DEVICE_TEMPERATURE_ENABLED', r'AP_Periph_FW::temperature_sensor_update'),
('AP_PERIPH_MSP_ENABLED', r'AP_Periph_FW::msp_init'),
('AP_PERIPH_NOTIFY_ENABLED', r'AP_Periph_FW::handle_notify_state'),
('AP_PERIPH_SERIAL_OPTIONS_ENABLED', r'SerialOptions::init'),
('AP_PERIPH_BATTERY_ENABLED', r'AP_Periph_FW::can_battery_update'),
('AP_PERIPH_RELAY_ENABLED', r'AP_Periph_FW::handle_hardpoint_command'),
('AP_PERIPH_BATTERY_BALANCE_ENABLED', r'AP_Periph_FW::batt_balance_update'),
('AP_PERIPH_BATTERY_TAG_ENABLED', r'BatteryTag::update'),
('AP_PERIPH_BATTERY_BMS_ENABLED', r'BatteryBMS::update'),
('AP_PERIPH_PROXIMITY_ENABLED', r'AP_Periph_FW::can_proximity_update'),
('AP_PERIPH_GPS_ENABLED', r'AP_Periph_FW::can_gps_update'),
('AP_PERIPH_ADSB_ENABLED', r'AP_Periph_FW::adsb_update'),
('AP_PERIPH_MAG_ENABLED', r'AP_Periph_FW::can_mag_update'),
('AP_PERIPH_BARO_ENABLED', r'AP_Periph_FW::can_baro_update'),
('AP_PERIPH_RANGEFINDER_ENABLED', r'AP_Periph_FW::can_rangefinder_update'),
('AP_PERIPH_IMU_ENABLED', r'AP_Periph_FW::can_imu_update'),
('AP_PERIPH_RC_OUT_ENABLED', r'AP_Periph_FW::sim_update_actuator'),
('AP_PERIPH_EFI_ENABLED', r'AP_Periph_FW::can_efi_update'),
('AP_PERIPH_RCIN_ENABLED', r'AP_Periph_FW::rcin_update'),
('AP_PERIPH_RPM_ENABLED', r'AP_Periph_FW::rpm_sensor_send'),
('AP_PERIPH_AIRSPEED_ENABLED', r'AP_Periph_FW::can_airspeed_update'),
('AP_SCRIPTING_BINDING_VEHICLE_ENABLED', 'AP_Vehicle_index'),
('AP_SCRIPTING_BINDING_MOTORS_ENABLED', 'AP__motors___index'),
]
def progress_prefix(self):
"""Return prefix for progress messages."""
return 'EF'
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
'AC_POLYFENCE_CIRCLE_INT_SUPPORT_ENABLED', # no visible signature
'AP_DRONECAN_LOG_CIRCUIT_STATUS_ENABLED', # 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))
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, show_command=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_strings_from_elf(self, filename):
"""Runs strings on filename, returns as a list"""
text_output = self.run_program('EF', [
self.strings,
filename
], show_output=False, show_command=False)
return text_output.split("\n")
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)
strings = self.extract_strings_from_elf(self.filename)
remaining_build_options_defines = build_options_defines
compiled_in_feature_defines = []
for (feature_define, symbol) in self.features:
if isinstance(symbol, ExtractFeatures.FindString):
if symbol.string in strings:
some_define = feature_define
if some_define not in build_options_defines:
continue
compiled_in_feature_defines.append(some_define)
remaining_build_options_defines.discard(some_define)
else:
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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