Correct compilation when most features out, one in

Tools/autotest/test_build_options.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 """
 Contains functions used to test the ArduPilot build_options.py structures
@@ -22,6 +22,7 @@ def __init__(self,
                  do_step_disable_none=False,
                  do_step_disable_defaults=True,
                  do_step_disable_in_turn=True,
+                 do_step_enable_in_turn=True,
                  build_targets=None,
                  board="DevEBoxH7v2",
                  extra_hwdef=None):
@@ -32,6 +33,7 @@ def __init__(self,
         self.do_step_disable_none = do_step_disable_none
         self.do_step_run_with_defaults = do_step_disable_defaults
         self.do_step_disable_in_turn = do_step_disable_in_turn
+        self.do_step_enable_in_turn = do_step_enable_in_turn
         self.build_targets = build_targets
         if self.build_targets is None:
             self.build_targets = self.all_targets()
@@ -64,7 +66,7 @@ def write_defines_to_file(self, defines, filepath):
         with open(filepath, "w") as f:
             f.write(content)
 
-    def get_defines(self, feature, options):
+    def get_disable_defines(self, feature, options):
         '''returns a hash of (name, value) defines to turn feature off -
         recursively gets dependencies'''
         ret = {
@@ -89,8 +91,30 @@ def get_defines(self, feature, options):
                     break
         return ret
 
-    def test_feature(self, feature, options):
-        defines = self.get_defines(feature, options)
+    def update_get_enable_defines_for_feature(self, ret, feature, options):
+        '''recursive function to turn on required feature and what it depends
+        on'''
+        ret[feature.define] = 1
+        if feature.dependency is None:
+            return
+        for depname in feature.dependency.split(','):
+            dep = None
+            for f in options:
+                if f.label == depname:
+                    dep = f
+            if dep is None:
+                raise ValueError("Invalid dep (%s) for feature (%s)" %
+                                 (depname, feature.label))
+            self.update_get_enable_defines_for_feature(ret, dep, options)
+
+    def get_enable_defines(self, feature, options):
+        '''returns a hash of (name, value) defines to turn all features *but* feature (and whatever it depends on) on'''
+        ret = self.get_disable_all_defines()
+        self.update_get_enable_defines_for_feature(ret, feature, options)
+        return ret
+
+    def test_disable_feature(self, feature, options):
+        defines = self.get_disable_defines(feature, options)
 
         if len(defines.keys()) > 1:
             self.progress("Disabling %s disables (%s)" % (
@@ -99,6 +123,18 @@ def test_feature(self, feature, options):
 
         self.test_compile_with_defines(defines)
 
+    def test_enable_feature(self, feature, options):
+        defines = self.get_enable_defines(feature, options)
+
+        enabled = list(filter(lambda x : bool(defines[x]), defines.keys()))
+
+        if len(enabled) > 1:
+            self.progress("Enabling %s enables (%s)" % (
+                feature.define,
+                ",".join(enabled)))
+
+        self.test_compile_with_defines(defines)
+
     def board(self):
         '''returns board to build for'''
         return self._board
@@ -156,24 +192,40 @@ def run_disable_in_turn(self):
         for feature in options:
             self.progress("Disabling feature %s(%s) (%u/%u)" %
                           (feature.label, feature.define, count, len(options)))
-            self.test_feature(feature, options)
+            self.test_disable_feature(feature, options)
             count += 1
             self.disable_in_turn_check_sizes(feature, self.sizes_nothing_disabled)
 
+    def run_enable_in_turn(self):
+        options = self.get_build_options_from_ardupilot_tree()
+        if self.match_glob is not None:
+            options = list(filter(lambda x : fnmatch.fnmatch(x.define, self.match_glob), options))
+        count = 1
+        for feature in options:
+            self.progress("Enabling feature %s(%s) (%u/%u)" %
+                          (feature.label, feature.define, count, len(options)))
+            self.test_enable_feature(feature, options)
+            count += 1
+
     def get_option_by_label(self, label, options):
         for x in options:
             if x.label == label:
                 return x
         raise ValueError("No such option (%s)" % label)
 
-    def run_disable_all(self):
+    def get_disable_all_defines(self):
+        '''returns a hash of defines which turns all features off'''
         options = self.get_build_options_from_ardupilot_tree()
         defines = {}
         for feature in options:
             if self.match_glob is not None:
                 if not fnmatch.fnmatch(feature.define, self.match_glob):
                     continue
             defines[feature.define] = 0
+        return defines
+
+    def run_disable_all(self):
+        defines = self.get_disable_all_defines()
         self.test_compile_with_defines(defines)
 
     def run_disable_none(self):
@@ -191,7 +243,7 @@ def check_deps_consistency(self):
         # self.progress("Checking deps consistency")
         options = self.get_build_options_from_ardupilot_tree()
         for feature in options:
-            self.get_defines(feature, options)
+            self.get_disable_defines(feature, options)
 
     def run(self):
         self.check_deps_consistency()
@@ -207,6 +259,9 @@ def run(self):
         if self.do_step_disable_in_turn:
             self.progress("Running disable-in-turn step")
             self.run_disable_in_turn()
+        if self.do_step_enable_in_turn:
+            self.progress("Running enable-in-turn step")
+            self.run_enable_in_turn()
 
 
 if __name__ == '__main__':
@@ -228,6 +283,9 @@ def run(self):
     parser.add_option("--no-disable-in-turn",
                       action='store_true',
                       help='Do not run the disable-in-turn step')
+    parser.add_option("--no-enable-in-turn",
+                      action='store_true',
+                      help='Do not run the enable-in-turn step')
     parser.add_option("--build-targets",
                       type='choice',
                       choices=TestBuildOptions.all_targets(),
@@ -250,6 +308,7 @@ def run(self):
         do_step_disable_none=not opts.no_disable_none,
         do_step_disable_defaults=not opts.no_run_with_defaults,
         do_step_disable_in_turn=not opts.no_disable_in_turn,
+        do_step_enable_in_turn=not opts.no_enable_in_turn,
         build_targets=opts.build_targets,
         board=opts.board,
         extra_hwdef=opts.extra_hwdef,

Tools/scripts/build_ci.sh

@@ -373,12 +373,14 @@ for t in $CI_BUILD_TARGET; do
              --no-disable-all \
              --no-disable-none \
              --no-disable-in-turn \
+             --no-enable-in-turn \
              --board=CubeOrange \
              --build-targets=copter \
              --build-targets=plane
         echo "Checking all/none options in build_options.py work"
         time ./Tools/autotest/test_build_options.py \
              --no-disable-in-turn \
+             --no-enable-in-turn \
              --build-targets=copter \
              --build-targets=plane
         continue

Tools/scripts/build_options.py

@@ -55,7 +55,7 @@ def __init__(self,
     Feature('Ident', 'AIS', 'AP_AIS_ENABLED', 'Enable AIS', 0, None),
 
     Feature('Telemetry', 'CRSF', 'HAL_CRSF_TELEM_ENABLED', 'Enable CRSF Telemetry', 0, None),
-    Feature('Telemetry', 'CRSFText', 'HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED', 'Enable CRSF Text Param Selection', 0, 'CRSF'),
+    Feature('Telemetry', 'CRSFText', 'HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED', 'Enable CRSF Text Param Selection', 0, 'CRSF,OSD_PARAM'),  # NOQA: E501
     Feature('Telemetry', 'HIGHLAT2', 'HAL_HIGH_LATENCY2_ENABLED', 'Enable HighLatency2 Support', 0, None),
     Feature('Telemetry', 'HOTT', 'HAL_HOTT_TELEM_ENABLED', 'Enable HOTT Telemetry', 0, None),
     Feature('Telemetry', 'SPEKTRUM', 'HAL_SPEKTRUM_TELEM_ENABLED', 'Enable Spektrum Telemetry', 0, None),
@@ -71,7 +71,9 @@ def __init__(self,
 
     Feature('ICE', 'ICE Engine', 'AP_ICENGINE_ENABLED', 'Enable Internal Combustion Engine support', 0, 'RPM'),
     Feature('ICE', 'EFI', 'HAL_EFI_ENABLED', 'Enable EFI Monitoring', 0, None),
-    Feature('ICE', 'EFI_NMPWU', 'HAL_EFI_NWPWU_ENABLED', 'Enable EFI NMPMU', 0, None),
+    Feature('ICE', 'EFI_NMPWU', 'HAL_EFI_NWPWU_ENABLED', 'Enable EFI NMPMU', 0, 'EFI'),
+    Feature('ICE', 'EFI_CURRAWONGECU', 'HAL_EFI_CURRAWONG_ECU_ENABLED', 'Enable EFI Currawong ECU', 0, 'EFI'),
+    Feature('ICE', 'EFI_DRONECAN', 'HAL_EFI_DRONECAN_ENABLED', 'Enable EFI DroneCAN', 0, 'EFI'),
     Feature('ICE', 'GENERATOR', 'HAL_GENERATOR_ENABLED', 'Enable Generator', 0, None),
 
     Feature('OSD', 'OSD', 'OSD_ENABLED', 'Enable OSD', 0, None),
@@ -124,8 +126,8 @@ def __init__(self,
 
     Feature('Rangefinder', 'RANGEFINDER', 'AP_RANGEFINDER_ENABLED', "Enable Rangefinders", 0, None),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_ANALOG', 'AP_RANGEFINDER_ANALOG_ENABLED', "Enable Rangefinder - Analog", 0, "RANGEFINDER"),   # NOQA: E501
-    Feature('Rangefinder', 'RANGEFINDER_BBB_PRU', 'AP_RANGEFINDER_BBB_PRU_ENABLED', "Enable Rangefinder - BBB PRU", 0, "RANGEFINDER"),   # NOQA: E501
-    Feature('Rangefinder', 'RANGEFINDER_BEBOP', 'AP_RANGEFINDER_BEBOP_ENABLED', "Enable Rangefinder - Bebop", 0, "RANGEFINDER"),   # NOQA: E501
+    # Feature('Rangefinder', 'RANGEFINDER_BBB_PRU', 'AP_RANGEFINDER_BBB_PRU_ENABLED', "Enable Rangefinder - BBB PRU", 0, "RANGEFINDER"),   # NOQA: E501
+    # Feature('Rangefinder', 'RANGEFINDER_BEBOP', 'AP_RANGEFINDER_BEBOP_ENABLED', "Enable Rangefinder - Bebop", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_BENEWAKE_CAN', 'AP_RANGEFINDER_BENEWAKE_CAN_ENABLED', "Enable Rangefinder - Benewake (CAN)", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_BENEWAKE_TF02', 'AP_RANGEFINDER_BENEWAKE_TF02_ENABLED', "Enable Rangefinder - Benewake -TF02", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_BENEWAKE_TF03', 'AP_RANGEFINDER_BENEWAKE_TF03_ENABLED', "Enable Rangefinder - Benewake - TF03", 0, "RANGEFINDER"),   # NOQA: E501
@@ -145,7 +147,7 @@ def __init__(self,
     Feature('Rangefinder', 'RANGEFINDER_NMEA', 'AP_RANGEFINDER_NMEA_ENABLED', "Enable Rangefinder - NMEA", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_PULSEDLIGHTLRF', 'AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED', "Enable Rangefinder - PulsedLightLRF", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_PWM', 'AP_RANGEFINDER_PWM_ENABLED', "Enable Rangefinder - PWM", 0, "RANGEFINDER"),   # NOQA: E501
-    Feature('Rangefinder', 'RANGEFINDER_SIM', 'AP_RANGEFINDER_SIM_ENABLED', "Enable Rangefinder - SIM", 0, "RANGEFINDER"),   # NOQA: E501
+    # Feature('Rangefinder', 'RANGEFINDER_SIM', 'AP_RANGEFINDER_SIM_ENABLED', "Enable Rangefinder - SIM", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_TRI2C', 'AP_RANGEFINDER_TRI2C_ENABLED', "Enable Rangefinder - TeraRangerI2C", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_TR_SERIAL', 'AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED', "Enable Rangefinder - TeraRanger Serial", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_UAVCAN', 'AP_RANGEFINDER_UAVCAN_ENABLED', "Enable Rangefinder - UAVCAN", 0, "RANGEFINDER"),   # NOQA: E501
@@ -169,7 +171,7 @@ def __init__(self,
     Feature('Sensors', 'BMP388', 'AP_BARO_BMP388_ENABLED', 'Enable BMP388 Barometric Sensor', 1, None),
     Feature('Sensors', 'DPS280', 'AP_BARO_DPS280_ENABLED', 'Enable DPS280 Barometric Sensor', 1, None),
     Feature('Sensors', 'DUMMY', 'AP_BARO_DUMMY_ENABLED', 'Enable DUMMY Barometric Sensor', 0, None),
-    Feature('Sensors', 'EXTERNALAHRS', 'AP_BARO_EXTERNALAHRS_ENABLED', 'Enable EXTERNALAHRS Barometric Sensor', 0, None),
+    Feature('Sensors', 'EXTERNALAHRS', 'AP_BARO_EXTERNALAHRS_ENABLED', 'Enable EXTERNALAHRS Barometric Sensor', 0, 'AHRS_EXT'),
     Feature('Sensors', 'FBM320', 'AP_BARO_FBM320_ENABLED', 'Enable FBM320 Barometric Sensor', 1, None),
     Feature('Sensors', 'ICM20789', 'AP_BARO_ICM20789_ENABLED', 'Enable ICM20789 Barometric Sensor', 1, None),
     Feature('Sensors', 'KELLERLD', 'AP_BARO_KELLERLD_ENABLED', 'Enable KELLERLD Barometric Sensor', 1, None),
@@ -225,4 +227,4 @@ def __init__(self,
     Feature('Payload', 'Camera', 'AP_CAMERA_ENABLED', 'Enable Camera Trigger support', 0, None),
 ]
 
-BUILD_OPTIONS.sort(key=lambda x: x.category)
+BUILD_OPTIONS.sort(key=lambda x: (x.category + x.label))

libraries/AP_RPM/AP_RPM.cpp

@@ -258,6 +258,7 @@ bool AP_RPM::arming_checks(size_t buflen, char *buffer) const
 {
     for (uint8_t i=0; i<RPM_MAX_INSTANCES; i++) {
         switch (_params[i].type) {
+#if AP_RPM_PIN_ENABLED
         case RPM_TYPE_PWM:
         case RPM_TYPE_PIN:
             if (_params[i].pin == -1) {
@@ -274,6 +275,7 @@ bool AP_RPM::arming_checks(size_t buflen, char *buffer) const
                 return false;
             }
             break;
+#endif
         }
     }
     return true;

libraries/AP_RangeFinder/AP_RangeFinder_SITL.cpp

@@ -17,13 +17,13 @@
 #if AP_RANGEFINDER_SIM_ENABLED
 
 #include <AP_HAL/AP_HAL.h>
+#include <SITL/SITL.h>
 
 /*
   constructor - registers instance at top RangeFinder driver
  */
 AP_RangeFinder_SITL::AP_RangeFinder_SITL(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params, uint8_t instance) :
     AP_RangeFinder_Backend(_state, _params),
-    sitl(AP::sitl()),
     _instance(instance)
 {}
 
@@ -32,7 +32,7 @@ AP_RangeFinder_SITL::AP_RangeFinder_SITL(RangeFinder::RangeFinder_State &_state,
  */
 void AP_RangeFinder_SITL::update(void)
 {
-    const float dist = sitl->get_rangefinder(_instance);
+    const float dist = AP::sitl()->get_rangefinder(_instance);
 
     // negative distance means nothing is connected
     if (is_negative(dist)) {

libraries/AP_RangeFinder/AP_RangeFinder_SITL.h

@@ -24,8 +24,6 @@
 
 #if AP_RANGEFINDER_SIM_ENABLED
 
-#include <SITL/SITL.h>
-
 class AP_RangeFinder_SITL : public AP_RangeFinder_Backend {
 public:
     // constructor. This incorporates initialisation as well.
@@ -40,9 +38,6 @@ class AP_RangeFinder_SITL : public AP_RangeFinder_Backend {
         return MAV_DISTANCE_SENSOR_UNKNOWN;
     }
 
-private:
-    SITL::SIM *sitl;
-
     uint8_t _instance;
 
 };

libraries/AP_UAVCAN/AP_UAVCAN.cpp

@@ -352,7 +352,7 @@ void AP_UAVCAN::init(uint8_t driver_index, bool enable_filters)
 #if AP_RANGEFINDER_UAVCAN_ENABLED
     AP_RangeFinder_UAVCAN::subscribe_msgs(this);
 #endif
-#if HAL_EFI_ENABLED
+#if HAL_EFI_DRONECAN_ENABLED
     AP_EFI_DroneCAN::subscribe_msgs(this);
 #endif
 

libraries/SITL/SIM_AirSim.cpp

@@ -334,7 +334,7 @@ void AirSim::recv_fdm(const sitl_input& input)
     }
 
     // Update Rangefinder data, max sensors limit as defined
-    uint8_t rng_sensor_count = MIN(state.rng.rng_distances.length, RANGEFINDER_MAX_INSTANCES);
+    uint8_t rng_sensor_count = MIN(state.rng.rng_distances.length, ARRAY_SIZE(rangefinder_m));
     for (uint8_t i=0; i<rng_sensor_count; i++) {
         rangefinder_m[i] = state.rng.rng_distances.data[i];
     }

libraries/SITL/SIM_Aircraft.cpp

@@ -70,7 +70,7 @@ Aircraft::Aircraft(const char *frame_str) :
     }
 
     // init rangefinder array to -1 to signify no data
-    for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++){
+    for (uint8_t i = 0; i < ARRAY_SIZE(rangefinder_m); i++){
         rangefinder_m[i] = -1.0f;
     }
 }
@@ -954,7 +954,7 @@ void Aircraft::update_external_payload(const struct sitl_input &input)
 
     {
         const float range = rangefinder_range();
-        for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
+        for (uint8_t i=0; i<ARRAY_SIZE(rangefinder_m); i++) {
             rangefinder_m[i] = range;
         }
     }

libraries/SITL/SIM_Aircraft.h

@@ -205,7 +205,7 @@ class Aircraft {
     } scanner;
 
     // Rangefinder
-    float rangefinder_m[RANGEFINDER_MAX_INSTANCES];
+    float rangefinder_m[SITL_NUM_RANGEFINDERS];
 
     // Windvane apparent wind
     struct {

libraries/SITL/SITL.cpp

@@ -663,7 +663,7 @@ Vector3f SIM::convert_earth_frame(const Matrix3f &dcm, const Vector3f &gyro)
 
 // get the rangefinder reading for the desired rotation, returns -1 for no data
 float SIM::get_rangefinder(uint8_t instance) {
-    if (instance < RANGEFINDER_MAX_INSTANCES) {
+    if (instance < ARRAY_SIZE(state.rangefinder_m)) {
         return state.rangefinder_m[instance];
     }
     return -1;

libraries/SITL/SITL.h

@@ -26,7 +26,6 @@
 #include "SIM_IntelligentEnergy24.h"
 #include "SIM_Ship.h"
 #include "SIM_GPS.h"
-#include <AP_RangeFinder/AP_RangeFinder.h>
 
 namespace SITL {
 
@@ -78,7 +77,8 @@ struct sitl_fdm {
         struct float_array ranges;
     } scanner;
 
-    float rangefinder_m[RANGEFINDER_MAX_INSTANCES];
+    #define SITL_NUM_RANGEFINDERS 10
+    float rangefinder_m[SITL_NUM_RANGEFINDERS];
     float airspeed_raw_pressure[AIRSPEED_MAX_SENSORS];
 
     struct {