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SITL MAVROS tests move AddressSanitizer and Coverage variants to Github Actions

sbg
Daniel Agar 5 years ago
parent
c1fc638ac3
commit
0daf712c3e
3 changed files with 12 additions and 400 deletions
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  1. 178
      .ci/Jenkinsfile-SITL_tests_ASan
  2. 209
      .ci/Jenkinsfile-SITL_tests_coverage
  3. 25
      .github/workflows/mavros_sitl_tests.yml

178
.ci/Jenkinsfile-SITL_tests_ASan
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@ -1,178 +0,0 @@ @@ -1,178 +0,0 @@
#!/usr/bin/env groovy
pipeline {
agent none
stages {
stage('Build') {
agent {
docker {
image 'px4io/px4-dev-ros-melodic:2020-04-01'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make px4_sitl_default'
sh 'make px4_sitl_default sitl_gazebo'
sh 'make px4_sitl_default package'
sh 'ccache -s'
stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
//archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
}
post {
always {
sh 'make distclean'
}
}
} // stage Build
stage('ROS Tests') {
steps {
script {
def missions = [
[
name: "FW",
test: "mavros_posix_test_mission.test",
mission: "FW_mission_1",
vehicle: "plane"
],
[
name: "MC_box",
test: "mavros_posix_test_mission.test",
mission: "MC_mission_box",
vehicle: "iris"
],
// [
// name: "MC_offboard_att",
// test: "mavros_posix_tests_offboard_attctl.test",
// mission: "",
// vehicle: "iris"
// ],
[
name: "MC_offboard_pos",
test: "mavros_posix_tests_offboard_posctl.test",
mission: "",
vehicle: "iris"
],
// [
// name: "MC_offboard_rpyrt",
// test: "mavros_posix_tests_offboard_rpyrt_ctl.test",
// mission: "",
// vehicle: "iris"
// ],
[
name: "Rover 1",
test: "mavros_posix_test_mission.test",
mission: "rover_mission_1",
vehicle: "rover"
],
[
name: "VTOL_standard",
test: "mavros_posix_test_mission.test",
mission: "VTOL_mission_1",
vehicle: "standard_vtol"
],
[
name: "VTOL_tailsitter",
test: "mavros_posix_test_mission.test",
mission: "VTOL_mission_1",
vehicle: "tailsitter"
],
[
name: "VTOL_tiltrotor",
test: "mavros_posix_test_mission.test",
mission: "VTOL_mission_1",
vehicle: "tiltrotor"
],
[
name: "MC_avoidance",
test: "mavros_posix_test_avoidance.test",
mission: "avoidance",
vehicle: "iris_obs_avoid",
run_script: "rostest_avoidance_run.sh"
],
[
name: "MC_safe_landing",
test: "mavros_posix_test_safe_landing.test",
mission: "MC_safe_landing",
vehicle: "iris_obs_avoid",
run_script: "rostest_avoidance_run.sh"
],
]
def test_nodes = [:]
for (def i = 0; i < missions.size(); i++) {
test_nodes.put(missions[i].name, createTestNode(missions[i]))
}
parallel test_nodes
} // script
} // steps
} // stage ROS Tests
} //stages
environment {
CCACHE_DIR = '/tmp/ccache'
CI = true
PX4_CMAKE_BUILD_TYPE = 'AddressSanitizer'
}
options {
buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
timeout(time: 60, unit: 'MINUTES')
}
} // pipeline
def createTestNode(Map test_def) {
return {
node {
cleanWs()
docker.image("px4io/px4-dev-ros-melodic:2020-04-01").inside('-e HOME=${WORKSPACE}') {
stage(test_def.name) {
def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
def test_ok = true
sh('export')
unstash('px4_sitl_package')
sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
// run test
try {
sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
} catch (exc) {
// save all test artifacts for debugging
archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
test_ok = false
}
// upload log to flight review (https://logs.px4.io/)
sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
// log analysis
// process ekf log data
try {
sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
} catch (exc) {
// save log analysis artifacts for debugging
archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
// FIXME: don't let the script to fail the build
// test_ok = false
}
if (!test_ok) {
error('ROS Test failed')
}
} // stage
cleanWs()
} // docker.image
} // node
} // return
} // createTestNode

209
.ci/Jenkinsfile-SITL_tests_coverage
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@ -1,209 +0,0 @@ @@ -1,209 +0,0 @@
#!/usr/bin/env groovy
pipeline {
agent none
stages {
stage('ROS Tests') {
steps {
script {
def missions = [
[
name: "FW",
test: "mavros_posix_test_mission.test",
mission: "FW_mission_1",
vehicle: "plane"
],
[
name: "MC_box",
test: "mavros_posix_test_mission.test",
mission: "MC_mission_box",
vehicle: "iris"
],
// [
// name: "MC_offboard_att",
// test: "mavros_posix_tests_offboard_attctl.test",
// mission: "",
// vehicle: "iris"
// ],
[
name: "MC_offboard_pos",
test: "mavros_posix_tests_offboard_posctl.test",
mission: "",
vehicle: "iris"
],
// [
// name: "MC_offboard_rpyrt",
// test: "mavros_posix_tests_offboard_rpyrt_ctl.test",
// mission: "",
// vehicle: "iris"
// ],
[
name: "Rover 1",
test: "mavros_posix_test_mission.test",
mission: "rover_mission_1",
vehicle: "rover"
],
[
name: "VTOL_standard",
test: "mavros_posix_test_mission.test",
mission: "VTOL_mission_1",
vehicle: "standard_vtol"
],
[
name: "VTOL_tailsitter",
test: "mavros_posix_test_mission.test",
mission: "VTOL_mission_1",
vehicle: "tailsitter"
],
[
name: "VTOL_tiltrotor",
test: "mavros_posix_test_mission.test",
mission: "VTOL_mission_1",
vehicle: "tiltrotor"
],
// [
// name: "MC_avoidance",
// test: "mavros_posix_test_avoidance.test",
// mission: "avoidance",
// vehicle: "iris_obs_avoid",
// run_script: "rostest_avoidance_run.sh"
// ],
// [
// name: "MC_safe_landing",
// test: "mavros_posix_test_safe_landing.test",
// mission: "MC_safe_landing",
// vehicle: "iris_obs_avoid",
// run_script: "rostest_avoidance_run.sh"
// ],
]
def test_nodes = [:]
for (def i = 0; i < missions.size(); i++) {
test_nodes.put(missions[i].name, createTestNode(missions[i]))
}
parallel test_nodes
} // script
} // steps
} // stage ROS Tests
stage('Coverage') {
parallel {
stage('code coverage (python)') {
agent {
docker {
image 'px4io/px4-dev-base-bionic:2020-04-01'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'git fetch --tags'
sh 'make python_coverage'
withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
sh 'curl -s https://codecov.io/bash | bash -s - -F python'
}
sh 'make distclean'
}
}
stage('unit tests') {
agent {
docker {
image 'px4io/px4-dev-base-bionic:2020-04-01'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'git fetch --tags'
sh 'make tests'
withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
}
sh 'make distclean'
}
}
} // parallel
} // stage Coverage
} //stages
environment {
CCACHE_DIR = '/tmp/ccache'
CI = true
CTEST_OUTPUT_ON_FAILURE = 1
PX4_CMAKE_BUILD_TYPE = 'Coverage'
}
options {
buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
timeout(time: 60, unit: 'MINUTES')
}
} // pipeline
def createTestNode(Map test_def) {
return {
node {
cleanWs()
docker.image("px4io/px4-dev-ros-melodic:2020-04-01").inside('-e HOME=${WORKSPACE}') {
stage(test_def.name) {
def test_ok = true
sh('export')
checkout(scm)
// run test
try {
sh('make distclean')
sh 'git fetch --tags'
sh('ccache -s')
sh('make px4_sitl_default')
sh('make px4_sitl_default sitl_gazebo')
sh('ccache -s')
sh('make rostest_run TEST_FILE=' + test_def.test + ' TEST_MISSION=' + test_def.mission + ' TEST_VEHICLE=' + test_def.vehicle)
} catch (exc) {
// save all test artifacts for debugging
archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
test_ok = false
}
// log analysis
withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}'
// process log data (with python code coverage)
try {
//sh('coverage run -p Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
sh('Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
} catch (exc) {
// save log analysis artifacts for debugging
archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
// FIXME: don't let the script to fail the build
// test_ok = false
}
// upload log to flight review (https://logs.px4.io/) with python code coverage
sh('coverage run -p Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
// upload python code coverage to codecov.io
sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
}
if (!test_ok) {
error('ROS Test failed')
}
} // stage
cleanWs()
} // docker.image
} // node
} // return
} // createTestNode

25
.github/workflows/mavros_sitl_tests.yml
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@ -19,8 +19,10 @@ jobs: @@ -19,8 +19,10 @@ jobs:
- {vehicle: "rover", mission: "rover_mission_1", build_type: "RelWithDebInfo"}
- {vehicle: "plane", mission: "FW_mission_1", build_type: "RelWithDebInfo"}
- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "Coverage"}
- {vehicle: "standard_vtol", mission: "VTOL_mission_1", build_type: "AddressSanitizer"}
#- {vehicle: "tailsitter", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
#- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
- {vehicle: "tiltrotor", mission: "VTOL_mission_1", build_type: "RelWithDebInfo"}
container:
image: px4io/px4-dev-ros-melodic:2020-04-01
@ -54,18 +56,14 @@ jobs: @@ -54,18 +56,14 @@ jobs:
- name: check environment
run: export
- name: Build PX4
- name: Build PX4 and sitl_gazebo
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: make px4_sitl_default
- name: ccache post-run px4/firmware
run: ccache -s
- name: Build SITL Gazebo
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: make px4_sitl_default sitl_gazebo
- name: ccache post-run sitl_gazebo
run: ccache -s
run: |
ccache -z
make px4_sitl_default
make px4_sitl_default sitl_gazebo
ccache -s
- name: Core dump settings
run: |
@ -91,8 +89,9 @@ jobs: @@ -91,8 +89,9 @@ jobs:
path: px4.core
- name: Upload logs to flight review
#run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI .ros/log/*/*.ulg
run: find . -name *.ulg
run: |
find ~ -name *.ulg
./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
- name: Upload px4 binary
if: failure()

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