Daniel Agar
6 years ago
committed by
GitHub
3 changed files with 252 additions and 151 deletions
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#!/usr/bin/env groovy |
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pipeline { |
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agent none |
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stages { |
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stage('Build') { |
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agent { |
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docker { |
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image 'px4io/px4-dev-ros-kinetic:2018-09-11' |
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE --cap-add SYS_PTRACE --entrypoint=""' |
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} |
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} |
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steps { |
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sh 'export' |
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sh 'make distclean' |
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sh 'ccache -z' |
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sh 'git fetch --tags' |
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sh 'make px4_sitl_default' |
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stash includes: 'build/**/*', name: 'build_sitl_coverage', useDefaultExcludes: false |
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sh 'make px4_sitl_default sitl_gazebo' |
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sh 'make px4_sitl_default package' |
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sh 'ccache -s' |
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stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2") |
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archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true) |
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} |
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post { |
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always { |
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sh 'make distclean' |
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} |
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} |
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} // stage Build |
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stage('ROS Tests') { |
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steps { |
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script { |
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def missions = [ |
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[ |
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name: "FW", |
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test: "mavros_posix_test_mission.test", |
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mission: "FW_mission_1", |
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vehicle: "plane" |
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], |
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[ |
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name: "MC_box", |
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test: "mavros_posix_test_mission.test", |
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mission: "MC_mission_box", |
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vehicle: "iris" |
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], |
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[ |
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name: "MC_offboard_att", |
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test: "mavros_posix_tests_offboard_attctl.test", |
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mission: "", |
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vehicle: "iris" |
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], |
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[ |
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name: "MC_offboard_pos", |
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test: "mavros_posix_tests_offboard_posctl.test", |
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mission: "", |
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vehicle: "iris" |
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], |
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[ |
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name: "VTOL_standard", |
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test: "mavros_posix_test_mission.test", |
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mission: "VTOL_mission_1", |
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vehicle: "standard_vtol" |
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], |
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[ |
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name: "VTOL_tailsitter", |
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test: "mavros_posix_test_mission.test", |
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mission: "VTOL_mission_1", |
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vehicle: "tailsitter" |
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], |
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[ |
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name: "VTOL_tiltrotor", |
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test: "mavros_posix_test_mission.test", |
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mission: "VTOL_mission_1", |
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vehicle: "tiltrotor" |
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], |
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] |
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def test_nodes = [:] |
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for (def i = 0; i < missions.size(); i++) { |
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test_nodes.put(missions[i].name, createTestNode(missions[i])) |
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} |
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parallel test_nodes |
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} // script |
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} // steps |
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} // stage ROS Tests |
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stage('Coverage') { |
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parallel { |
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stage('code coverage (python)') { |
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agent { |
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docker { |
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image 'px4io/px4-dev-base:2019-01-26' |
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw --cap-add SYS_PTRACE' |
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} |
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} |
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steps { |
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sh 'export' |
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sh 'make distclean' |
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sh 'make python_coverage' |
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) { |
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sh 'curl -s https://codecov.io/bash | bash -s - -F python' |
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} |
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sh 'make distclean' |
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} |
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} |
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stage('unit tests') { |
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agent { |
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docker { |
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image 'px4io/px4-dev-base:2019-01-26' |
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw --cap-add SYS_PTRACE' |
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} |
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} |
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steps { |
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sh 'export' |
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sh 'make distclean' |
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sh 'make px4_sitl_test test_results_junit' |
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) { |
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sh 'curl -s https://codecov.io/bash | bash -s - -F unittest' |
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} |
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sh 'make distclean' |
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} |
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} |
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} // parallel |
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} // stage Coverage |
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} //stages |
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environment { |
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CCACHE_DIR = '/tmp/ccache' |
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CI = true |
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CTEST_OUTPUT_ON_FAILURE = 1 |
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PX4_CMAKE_BUILD_TYPE = 'Coverage' |
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} |
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options { |
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buildDiscarder(logRotator(numToKeepStr: '2', artifactDaysToKeepStr: '14')) |
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timeout(time: 60, unit: 'MINUTES') |
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} |
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} // pipeline |
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def createTestNode(Map test_def) { |
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return { |
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node { |
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cleanWs() |
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docker.image("px4io/px4-dev-ros-kinetic:2018-09-11").inside('-e HOME=${WORKSPACE} --cap-add SYS_PTRACE --entrypoint=""') { |
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stage(test_def.name) { |
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def test_ok = true |
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sh('export') |
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checkout(scm) |
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unstash 'build_sitl_coverage' |
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unstash('px4_sitl_package') |
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sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2') |
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// run test |
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try { |
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sh('px4-px4_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle) |
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} catch (exc) { |
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// save all test artifacts for debugging |
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log') |
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test_ok = false |
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} |
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// log analysis |
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) { |
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sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}' |
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// process log data (with python code coverage) |
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try { |
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sh('coverage run -p px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg') |
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} catch (exc) { |
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// save log analysis artifacts for debugging |
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv') |
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// FIXME: don't let the script to fail the build |
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// test_ok = false |
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} |
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// upload log to flight review (https://logs.px4.io/) with python code coverage |
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sh('coverage run -p px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg') |
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// upload python code coverage to codecov.io |
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sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}' |
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} |
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if (!test_ok) { |
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error('ROS Test failed') |
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} |
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} // stage |
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cleanWs() |
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} // docker.image |
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} // node |
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} // return |
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} // createTestNode |
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