CoCalc -- extract_features.py

GitHub Repository: Ardupilot/ardupilot
Path: blob/master/Tools/scripts/extract_features.py
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#!/usr/bin/env python3
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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 re
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import build_options
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from build_script_base import BuildScriptBase
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class ExtractFeatures(BuildScriptBase):
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    class FindString(object):
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        def __init__(self, string):
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            self.string = string
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    def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
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        super().__init__()
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        self.filename = filename
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        self.nm = nm
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        self.strings = strings
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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_COMPASS_DRONECAN_HIRES_ENABLED', r'AP_Compass_DroneCAN::handle_magnetic_field_hires',),
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            ('AP_AIS_ENABLED', 'AP_AIS::decode_position_report',),
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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_EXTENDED_ESC_TELEM_ENABLED', r'AP_DroneCAN::handle_esc_ext_status\b',),
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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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            ('AP_EXTERNAL_AHRS_ENABLED', r'AP_ExternalAHRS::init\b',),
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            ('AP_EXTERNAL_AHRS_{type}_ENABLED', r'AP_ExternalAHRS_(?P<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_{type}_ENABLED', r'AP_RangeFinder_(?P<type>.*)::handle_frame\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_RANGEFINDER_JRE_SERIAL_ENABLED', r'AP_RangeFinder_JRE_Serial::get_reading\b',),
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            ('AP_RANGEFINDER_RDS02UF_ENABLED', r'AP_RangeFinder_RDS02UF::get_reading\b',),
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            ('AP_RANGEFINDER_HEXSOONRADAR_ENABLED', r'AP_RangeFinder_NRA24_CAN::handle_frame'),
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            ('AP_RANGEFINDER_LIGHTWARE_GRF_ENABLED', 'AP_RangeFinder_LightWareGRF::get_reading'),
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            ('AP_GPS_NMEA_UNICORE_ENABLED', r'AP_GPS_NMEA::parse_agrica_field',),
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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>.*)::(_calculate|update)\b',),
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            ('AP_MOTORS_TRI_ENABLED', 'AP_MotorsTri::set_frame_class_and_type'),
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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_MSP_INAV_FONTS_ENABLED', r'AP_OSD_MSP_DisplayPort::write_INAV\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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            ('AP_BATTERY_WATT_MAX_ENABLED', 'Plane::throttle_watt_limiter',),
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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::update',),
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            ('HAL_MOUNT_STORM32MAVLINK_ENABLED', 'AP_Mount_SToRM32::update',),
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            ('AP_MOUNT_POI_LOCK_ENABLED', 'AP_Mount::set_poi_lock'),
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            ('HAL_SPEKTRUM_TELEM_ENABLED', r'AP::spektrum_telem',),
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            ('HAL_{type}_TELEM_ENABLED', r'AP_(?P<type>.*)_Telem::init',),
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            ('AP_{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_CRSF_SCRIPTING_ENABLED', 'AP_CRSF_Telem::get_menu_event',),
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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_SPort_Passthrough::process_packet',),
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            ('HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL', 'AP_Frsky_SPort_Passthrough::set_telem_data'),
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            ('AP_IBUS_TELEM_ENABLED', 'AP_IBus_Telem::init',),
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            ('MODE_AUTOLAND_ENABLED', 'ModeAutoLand::update'),
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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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            ('AP_CAMERA_SEND_FOV_STATUS_ENABLED', 'AP_Camera::send_camera_fov_status'),
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            ('AP_CAMERA_SEND_THERMAL_RANGE_ENABLED', 'AP_Camera::send_camera_thermal_range'),
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            ('AP_CAMERA_INFO_FROM_SCRIPT_ENABLED', 'AP_Camera_Backend::set_camera_information'),
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            ('AP_CAMERA_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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            ('AP_PROXIMITY_HEXSOONRADAR_ENABLED', 'AP_Proximity_MR72_CAN::update',),
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            ('AP_PROXIMITY_MR72_ENABLED', 'AP_Proximity_MR72_CAN::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', 'AP_Rally::find_nearest_rally_point',),
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            ('AP_AVOIDANCE_ENABLED', 'AC_Avoid::AC_Avoid',),
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            ('AP_OAPATHPLANNER_ENABLED', 'AP_OAPathPlanner::AP_OAPathPlanner',),
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            ('AC_PAYLOAD_PLACE_ENABLED', 'PayloadPlace::start_descent'),
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            ('AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED', ExtractFeatures.FindString('PayloadPlace')),
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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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            ('AP_EFI_SERIAL_HIRTH_ENABLED', r'AP_EFI_Serial_Hirth::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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            ('AP_CHECK_FIRMWARE_ENABLED', 'AP_CheckFirmware::check_signed_bootloader',),
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            ('HAL_QUADPLANE_ENABLED', 'QuadPlane::QuadPlane',),
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            ('AP_PLANE_GLIDER_PULLUP_ENABLED', 'GliderPullup::in_pullup',),
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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::override_servos',),
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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_WINCH_{type}_ENABLED', r'AP_Winch_(?P<type>.*)::update\b',),
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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_MAVLINK_RADIO_ENABLED', r'AP_RCProtocol_MAVLinkRadio::update_radio_rc_channels',),
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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_SERVO_TELEM_ENABLED', r'AP_Servo_Telem::update\b',),
193
            ('AP_VOLZ_ENABLED', r'AP_Volz_Protocol::init\b',),
194
            ('AP_DRONECAN_VOLZ_FEEDBACK_ENABLED', r'AP_DroneCAN::handle_actuator_status_Volz\b',),
195
            ('AP_ROBOTISSERVO_ENABLED', r'AP_RobotisServo::init\b',),
196
            ('AP_FETTEC_ONEWIRE_ENABLED', r'AP_FETtecOneWire::init\b',),
197
            ('AP_SBUSOUTPUT_ENABLED', 'AP_SBusOut::sbus_format_frame',),
198
            ('AP_KDECAN_ENABLED', r'AP_KDECAN::update\b',),
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200
            ('AP_RPM_ENABLED', 'AP_RPM::AP_RPM',),
201
            ('AP_RPM_{type}_ENABLED', r'AP_RPM_(?P<type>.*)::update',),
202

203
            ('AP_OPENDRONEID_ENABLED', 'AP_OpenDroneID::update',),
204

205
            ('GPS_MOVING_BASELINE', r'MovingBase::var_info',),
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            ('AP_DRONECAN_SEND_GPS', r'AP_GPS_DroneCAN::instance_exists\b',),
207
            ('AP_GPS_BLENDED_ENABLED', r'AP_GPS::calc_blend_weights\b',),
208
            ('AP_GPS_DEBUG_LOGGING_ENABLED', 'AP_GPS_Backend::log_data',),
209

210
            ('HAL_WITH_DSP', r'AP_HAL::DSP::find_peaks\b',),
211
            ('AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED', r'AP_InertialSensor::HarmonicNotch::update_params\b',),
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            ('AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED', r'AP_InertialSensor::BatchSampler::init'),
213
            ('AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED', r'FastRateBuffer::get_next_gyro_sample\b',),
214
            ('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',),
217
            ('HAL_BARO_WIND_COMP_ENABLED', r'AP_Baro::wind_pressure_correction\b',),
218
            ('AP_BARO_THST_COMP_ENABLED', r'AP_Baro::thrust_pressure_correction\b',),
219
            ('AP_TEMPCALIBRATION_ENABLED', r'AP_TempCalibration::apply_calibration',),
220

221
            ('AP_PICCOLOCAN_ENABLED', r'AP_PiccoloCAN::update',),
222
            ('EK3_FEATURE_EXTERNAL_NAV', r'NavEKF3_core::CorrectExtNavVelForSensorOffset'),
223
            ('EK3_FEATURE_DRAG_FUSION', r'NavEKF3_core::FuseDragForces'),
224
            ('EK3_FEATURE_OPTFLOW_FUSION', r'NavEKF3_core::FuseOptFlow'),
225
            ('EK3_FEATURE_OPTFLOW_SRTM', r'NavEKF3_core::writeTerrainData'),
226

227
            ('AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED', r'RC_Channel::lookuptable',),
228
            ('AP_SCRIPTING_ENABLED', r'AP_Scripting::init',),
229
            ('AP_SCRIPTING_SERIALDEVICE_ENABLED', r'AP_Scripting_SerialDevice::init',),
230

231
            ('AP_NOTIFY_TONEALARM_ENABLED', r'AP_ToneAlarm::init'),
232
            ('AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED', r'AP_Notify::handle_play_tune'),
233
            ('AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED', r'AP_Notify::handle_led_control'),
234
            ('AP_NOTIFY_NCP5623_ENABLED', r'NCP5623::write'),
235
            ('AP_NOTIFY_PROFILED_ENABLED', r'ProfiLED::init_ports'),
236
            ('AP_NOTIFY_PROFILED_SPI_ENABLED', r'ProfiLED_SPI::rgb_set_id'),
237
            ('AP_NOTIFY_NEOPIXEL_ENABLED', r'NeoPixel::init_ports'),
238
            ('AP_FILESYSTEM_FORMAT_ENABLED', r'AP_Filesystem::format'),
239

240
            ('AP_FILESYSTEM_{type}_ENABLED', r'AP_Filesystem_(?P<type>.*)::open'),
241

242
            ('AP_INERTIALSENSOR_KILL_IMU_ENABLED', r'AP_InertialSensor::kill_imu'),
243
            ('AP_CRASHDUMP_ENABLED', 'CrashCatcher_DumpMemory'),
244
            ('AP_CAN_SLCAN_ENABLED', 'SLCAN::CANIface::var_info'),
245
            ('AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT', 'AC_PolyFence_loader::handle_msg_fetch_fence_point'),
246
            ('AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED', 'GCS_MAVLINK::handle_common_rally_message'),
247
            ('AP_ADSB_AVOIDANCE_ENABLED', 'AP_Avoidance::init'),
248

249
            ('AP_SDCARD_STORAGE_ENABLED', 'StorageAccess::attach_file'),
250
            ('AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED', 'GCS_MAVLINK::handle_send_autopilot_version'),
251
            ('AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'GCS_MAVLINK::handle_command_request_autopilot_capabilities'),  # noqa
252
            ('AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'GCS_MAVLINK::send_relay_status'),
253
            ('AP_MAVLINK_MSG_DEVICE_OP_ENABLED', 'GCS_MAVLINK::handle_device_op_write'),
254
            ('AP_MAVLINK_SERVO_RELAY_ENABLED', 'GCS_MAVLINK::handle_servorelay_message'),
255
            ('AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED', 'GCS_MAVLINK::handle_serial_control'),
256
            ('AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED', r'GCS_MAVLINK::handle_mission_request\b'),
257
            ('AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED', r'GCS_MAVLINK::send_rc_channels_raw\b'),
258
            ('AP_MAVLINK_FTP_ENABLED', 'GCS_FTP::init'),
259
            ('AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED', 'Plane::handle_external_hagl'),
260
            ('AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED', 'AP_Camera::send_video_stream_information'),
261
            ('AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED', 'GCS_MAVLINK::send_flight_information'),
262
            ('AP_MAVLINK_MSG_RANGEFINDER_SENDING_ENABLED', r'GCS_MAVLINK::send_rangefinder'),
263
            ('AP_MAVLINK_SIGNING_ENABLED', r'GCS_MAVLINK::load_signing_key'),
264

265
            ('AP_DRONECAN_HIMARK_SERVO_SUPPORT', 'AP_DroneCAN::SRV_send_himark'),
266
            ('AP_DRONECAN_HOBBYWING_ESC_SUPPORT', 'AP_DroneCAN::hobbywing_ESC_update'),
267
            ('COMPASS_CAL_ENABLED', 'CompassCalibrator::stop'),
268
            ('AP_TUNING_ENABLED', 'AP_Tuning::check_input'),
269
            ('AP_DRONECAN_SERIAL_ENABLED', 'AP_DroneCAN_Serial::update'),
270
            ('AP_SERIALMANAGER_IMUOUT_ENABLED', 'AP_InertialSensor::send_uart_data'),
271
            ('AP_NETWORKING_ENABLED', 'AP_Networking::init'),
272
            ('AP_NETWORKING_BACKEND_PPP', 'AP_Networking_PPP::init'),
273
            ('AP_NETWORKING_CAN_MCAST_ENABLED', 'AP_Networking_CAN::start'),
274
            ('AP_NETWORKING_CAPTURE_ENABLED', 'AP_Networking_Backend::capture_pbuf'),
275

276
            ('FORCE_APJ_DEFAULT_PARAMETERS', 'AP_Param::param_defaults_data'),
277
            ('HAL_BUTTON_ENABLED', 'AP_Button::update'),
278
            ('HAL_LOGGING_ENABLED', 'AP_Logger::init'),
279
            ('AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED', 'Compass::mag_cal_fixed_yaw'),
280
            ('COMPASS_LEARN_ENABLED', 'CompassLearn::update'),
281
            ('AP_CUSTOMROTATIONS_ENABLED', 'AP_CustomRotations::init'),
282
            ('AP_OSD_LINK_STATS_EXTENSIONS_ENABLED', r'AP_OSD_Screen::draw_rc_tx_power'),
283
            ('HAL_ENABLE_DRONECAN_DRIVERS', r'AP_DroneCAN::init'),
284
            ('AP_BARO_PROBE_EXTERNAL_I2C_BUSES', r'AP_Baro::_probe_i2c_barometers'),
285
            ('AP_RSSI_ENABLED', r'AP_RSSI::init'),
286
            ('AP_FOLLOW_ENABLED', 'AP_Follow::AP_Follow'),
287

288
            ('AP_ROVER_ADVANCED_FAILSAFE_ENABLED', r'Rover::afs_fs_check'),
289
            ('AP_ROVER_AUTO_ARM_ONCE_ENABLED', r'Rover::handle_auto_arm_once'),
290
            ('AP_COPTER_ADVANCED_FAILSAFE_ENABLED', r'Copter::afs_fs_check'),
291
            ('AP_COPTER_AHRS_AUTO_TRIM_ENABLED', r'RC_Channels_Copter::auto_trim_run'),
292

293
            ('AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED', r'GCS_MAVLINK_Plane::handle_command_int_guided_slew_commands'),
294
            ('AP_SERIALMANAGER_REGISTER_ENABLED', r'AP_SerialManager::register_port'),
295
            ('AP_QUICKTUNE_ENABLED', r'AP_Quicktune::update'),
296
            ('AP_FILTER_ENABLED', r'AP_Filters::update'),
297
            ('AP_CAN_LOGGING_ENABLED', r'AP_CANManager::can_logging_callback'),
298
            ('AP_PLANE_SYSTEMID_ENABLED', r'AP_SystemID::start'),
299
            ('AP_DDS_ENABLED', r'AP_DDS_Client::start'),
300
            ('AP_RC_TRANSMITTER_TUNING_ENABLED',  r'Copter::tuning'),
301
            ('AP_CPU_IDLE_STATS_ENABLED', r'AP_BoardConfig::use_idle_stats'),
302

303
            ('AP_PERIPH_DEVICE_TEMPERATURE_ENABLED', r'AP_Periph_FW::temperature_sensor_update'),
304
            ('AP_PERIPH_MSP_ENABLED', r'AP_Periph_FW::msp_init'),
305
            ('AP_PERIPH_NOTIFY_ENABLED', r'AP_Periph_FW::handle_notify_state'),
306
            ('AP_PERIPH_SERIAL_OPTIONS_ENABLED', r'SerialOptions::init'),
307
            ('AP_PERIPH_BATTERY_ENABLED', r'AP_Periph_FW::can_battery_update'),
308
            ('AP_PERIPH_RELAY_ENABLED', r'AP_Periph_FW::handle_hardpoint_command'),
309
            ('AP_PERIPH_BATTERY_BALANCE_ENABLED', r'AP_Periph_FW::batt_balance_update'),
310
            ('AP_PERIPH_BATTERY_TAG_ENABLED', r'BatteryTag::update'),
311
            ('AP_PERIPH_BATTERY_BMS_ENABLED', r'BatteryBMS::update'),
312
            ('AP_PERIPH_PROXIMITY_ENABLED', r'AP_Periph_FW::can_proximity_update'),
313
            ('AP_PERIPH_GPS_ENABLED', r'AP_Periph_FW::can_gps_update'),
314
            ('AP_PERIPH_ADSB_ENABLED', r'AP_Periph_FW::adsb_update'),
315
            ('AP_PERIPH_MAG_ENABLED', r'AP_Periph_FW::can_mag_update'),
316
            ('AP_PERIPH_BARO_ENABLED', r'AP_Periph_FW::can_baro_update'),
317
            ('AP_PERIPH_RANGEFINDER_ENABLED', r'AP_Periph_FW::can_rangefinder_update'),
318
            ('AP_PERIPH_IMU_ENABLED', r'AP_Periph_FW::can_imu_update'),
319
            ('AP_PERIPH_RC_OUT_ENABLED', r'AP_Periph_FW::sim_update_actuator'),
320
            ('AP_PERIPH_EFI_ENABLED', r'AP_Periph_FW::can_efi_update'),
321
            ('AP_PERIPH_RCIN_ENABLED', r'AP_Periph_FW::rcin_update'),
322
            ('AP_PERIPH_RPM_ENABLED', r'AP_Periph_FW::rpm_sensor_send'),
323
            ('AP_PERIPH_AIRSPEED_ENABLED', r'AP_Periph_FW::can_airspeed_update'),
324

325
            ('AP_SCRIPTING_BINDING_VEHICLE_ENABLED', 'AP_Vehicle_index'),
326
            ('AP_SCRIPTING_BINDING_MOTORS_ENABLED', 'AP__motors___index'),
327
        ]
328

329
    def progress_prefix(self):
330
        """Return prefix for progress messages."""
331
        return 'EF'
332

333
    def validate_features_list(self):
334
        '''ensures that every define present in build_options.py could be
335
        found by in our features list'''
336
        # a list of problematic defines we don't have fixes for ATM:
337
        whitelist = frozenset([
338
            'HAL_PERIPH_SUPPORT_LONG_CAN_PRINTF',  # this define changes single method body, hard to detect?
339
            'AP_PLANE_BLACKBOX_LOGGING', # no visible signature
340
            'AC_POLYFENCE_CIRCLE_INT_SUPPORT_ENABLED',  # no visible signature
341
        ])
342
        for option in build_options.BUILD_OPTIONS:
343
            if option.define in whitelist:
344
                continue
345
            matched = False
346
            for (define, _) in self.features:
347
                # replace {type} with "match any number of word characters'''
348
                define_re = "^" + re.sub(r"{type}", "\\\\w+", define) + "$"
349
                # print("define re is (%s)" % define_re)
350
                if re.match(define_re, option.define):
351
                    matched = True
352
                    break
353
            if not matched:
354
                raise ValueError("feature (%s) is not matched in extract_features" %
355
                                 (option.define))
356

357
    class Symbols(object):
358
        def __init__(self):
359
            self.symbols = dict()
360
            self.symbols_without_arguments = dict()
361

362
        def add(self, key, attributes):
363
            self.symbols[key] = attributes
364

365
            # also keep around the same symbol name without arguments.
366
            # if the key is already present then the attributes become
367
            # None as there are multiple possible answers...
368
            m = re.match("^([^(]+).*", key)
369
            if m is None:
370
                extracted_symbol_name = key
371
            else:
372
                extracted_symbol_name = m.group(1)
373
            # print("Adding (%s)" % str(extracted_symbol_name))
374
            if extracted_symbol_name in self.symbols_without_arguments:
375
                self.symbols_without_arguments[extracted_symbol_name] = None
376
            else:
377
                self.symbols_without_arguments[extracted_symbol_name] = attributes
378

379
        def dict_for_symbol(self, symbol):
380
            if '(' not in symbol:
381
                some_dict = self.symbols_without_arguments
382
            else:
383
                some_dict = self.symbols
384
            return some_dict
385

386
    def extract_symbols_from_elf(self, filename):
387
        """Parses ELF in filename, returns dict of symbols=>attributes."""
388
        text_output = self.run_program('EF', [
389
            self.nm,
390
            '--demangle',
391
            '--print-size',
392
            filename
393
        ], show_output=False, show_command=False)
394
        ret = ExtractFeatures.Symbols()
395
        for line in text_output.split("\n"):
396
            m = re.match("^([^ ]+) ([^ ]+) ([^ ]) (.*)", line.rstrip())
397
            if m is None:
398
                m = re.match("^([^ ]+) ([^ ]) (.*)", line.rstrip())
399
                if m is None:
400
                    # raise ValueError("Did not match (%s)" % line)
401
                    # e.g. Did not match (         U _errno)
402
                    continue
403
                (offset, symbol_type, symbol_name) = m.groups()
404
                size = "0"
405
            else:
406
                (offset, size, symbol_type, symbol_name) = m.groups()
407
            size = int(size, 16)
408
            # print("symbol (%s) size %u" % (str(symbol_name), size))
409
            ret.add(symbol_name, {
410
                "size": size,
411
            })
412

413
        return ret
414

415
    def extract_strings_from_elf(self, filename):
416
        """Runs strings on filename, returns as a list"""
417
        text_output = self.run_program('EF', [
418
            self.strings,
419
            filename
420
        ], show_output=False, show_command=False)
421
        return text_output.split("\n")
422

423
    def extract(self):
424
        '''returns two sets - compiled_in and not_compiled_in'''
425

426
        build_options_defines = set([x.define for x in build_options.BUILD_OPTIONS])
427

428
        symbols = self.extract_symbols_from_elf(self.filename)
429
        strings = self.extract_strings_from_elf(self.filename)
430

431
        remaining_build_options_defines = build_options_defines
432
        compiled_in_feature_defines = []
433
        for (feature_define, symbol) in self.features:
434
            if isinstance(symbol, ExtractFeatures.FindString):
435
                if symbol.string in strings:
436
                    some_define = feature_define
437
                    if some_define not in build_options_defines:
438
                        continue
439
                    compiled_in_feature_defines.append(some_define)
440
                    remaining_build_options_defines.discard(some_define)
441
            else:
442
                some_dict = symbols.dict_for_symbol(symbol)
443
                # look for symbols without arguments
444
                # print("Looking for (%s)" % str(name))
445
                for s in some_dict.keys():
446
                    m = re.match(symbol, s)
447
                    # print("matching %s with %s" % (symbol, s))
448
                    if m is None:
449
                        continue
450
                    d = m.groupdict()
451
                    for key in d.keys():
452
                        d[key] = d[key].upper()
453
                    # filter to just the defines present in
454
                    # build_options.py - otherwise we end up with (e.g.)
455
                    # AP_AIRSPEED_BACKEND_ENABLED, even 'though that
456
                    # doesn't exist in the ArduPilot codebase.
457
                    some_define = feature_define.format(**d)
458
                    if some_define not in build_options_defines:
459
                        continue
460
                    compiled_in_feature_defines.append(some_define)
461
                    remaining_build_options_defines.discard(some_define)
462
        return (compiled_in_feature_defines, remaining_build_options_defines)
463

464
    def create_string(self):
465
        '''returns a string with compiled in and not compiled-in features'''
466

467
        (compiled_in_feature_defines, not_compiled_in_feature_defines) = self.extract()
468

469
        ret = ""
470

471
        combined = {}
472
        for define in sorted(compiled_in_feature_defines):
473
            combined[define] = True
474
        for define in sorted(not_compiled_in_feature_defines):
475
            combined[define] = False
476

477
        def squash_hal_to_ap(a):
478
            return re.sub("^HAL_", "AP_", a)
479

480
        for define in sorted(combined.keys(), key=squash_hal_to_ap):
481
            bang = ""
482
            if not combined[define]:
483
                bang = "!"
484
            ret += bang + define + "\n"
485
        return ret
486

487
    def run(self):
488
        self.validate_features_list()
489
        print(self.create_string())
490

491

492
if __name__ == '__main__':
493

494
    parser = argparse.ArgumentParser(prog='extract_features.py', description='Extract ArduPilot features from binaries')
495
    parser.add_argument('firmware_file', help='firmware binary')
496
    parser.add_argument('--nm', type=str, default="arm-none-eabi-nm", help='nm binary to use.')
497
    args = parser.parse_args()
498
    # print(args.firmware_file, args.nm)
499

500
    ef = ExtractFeatures(args.firmware_file, args.nm)
501
    ef.run()
502

503
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