Daniel Agar
7 years ago
committed by
Lorenz Meier
11 changed files with 250 additions and 199 deletions
@ -1,31 +0,0 @@ |
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#!/bin/bash |
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# |
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# Run container and start test execution |
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# |
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# License: according to LICENSE.md in the root directory of the PX4 Firmware repository |
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set -e |
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if [ -z "$WORKSPACE" ]; then |
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echo "\$WORKSPACE not set" |
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exit 1 |
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fi |
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IMAGE=px4io/px4-dev-ros:v1.0 |
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# Pulling latest image |
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echo "===> pull latest Docker image" |
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docker pull $IMAGE |
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# removing some images might fail |
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set +e |
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docker rmi $(docker images --filter "dangling=true" -q --no-trunc) |
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set -e |
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echo "<===" |
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# |
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# Running SITL testing container |
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# Assuming that necessary source projects, including this one, are cloned in the build server workspace of this job. |
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# |
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echo "===> run container" |
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docker run --rm -v "$WORKSPACE:/job:rw" $IMAGE bash "/job/Firmware/integrationtests/run_tests.bash" /job/Firmware |
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echo "<===" |
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@ -1,140 +0,0 @@ |
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#!/bin/bash |
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# |
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# Starts tests from within the container |
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# |
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# License: according to LICENSE.md in the root directory of the PX4 Firmware repository |
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set -e |
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# TODO move to docker image |
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pip install --upgrade numpy -q |
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pip install px4tools pymavlink toml -q |
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# A POSIX variable |
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OPTIND=1 # Reset in case getopts has been used previously in the shell. |
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# Initialize our own variables: |
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do_clean=true |
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gui=false |
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while getopts "h?og" opt; do |
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case "$opt" in |
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h|\?) |
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echo """ |
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$0 [-h] [-o] [-g] |
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-h show help |
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-o don't clean before building (to save time) |
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-g run gazebo gui |
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""" |
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exit 0 |
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;; |
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o) do_clean=false |
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echo "not cleaning" |
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;; |
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g) gui=true |
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;; |
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esac |
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done |
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# determine the directory of the source given the directory of this script |
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pushd `dirname $0` > /dev/null |
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SCRIPTPATH=`pwd` |
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popd > /dev/null |
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ORIG_SRC=$(dirname $SCRIPTPATH) |
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# set paths |
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JOB_DIR=$(dirname $ORIG_SRC) |
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CATKIN_DIR=$JOB_DIR/catkin |
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BUILD_DIR=$CATKIN_DIR/build/px4 |
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SRC_DIR=${CATKIN_DIR}/src/px4 |
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echo setting up ROS paths |
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if [ -f /opt/ros/indigo/setup.bash ] |
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then |
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source /opt/ros/indigo/setup.bash |
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elif [ -f /opt/ros/kinetic/setup.bash ] |
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then |
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source /opt/ros/kinetic/setup.bash |
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else |
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echo "could not find /opt/ros/{ros-distro}/setup.bash" |
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exit 1 |
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fi |
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export ROS_HOME=$JOB_DIR/.ros |
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export ROS_LOG_DIR=$ROS_HOME/log |
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export ROS_TEST_RESULT_DIR=$ROS_HOME/test_results/px4 |
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export PX4_LOG_DIR=$ROS_HOME/rootfs/fs/microsd/log |
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TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results |
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# TODO |
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# BAGS=$ROS_HOME |
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# CHARTS=$ROS_HOME/charts |
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# EXPORT_CHARTS=/sitl/testing/export_charts.py |
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if $do_clean |
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then |
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echo cleaning |
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rm -rf $CATKIN_DIR |
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rm -rf $ROS_HOME |
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rm -rf $TEST_RESULT_TARGET_DIR |
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else |
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echo skipping clean step |
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fi |
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echo "=====> compile ($SRC_DIR)" |
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mkdir -p $ROS_HOME |
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mkdir -p $CATKIN_DIR/src |
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mkdir -p $TEST_RESULT_TARGET_DIR |
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if ! [ -d $SRC_DIR ] |
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then |
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ln -s $ORIG_SRC $SRC_DIR |
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ln -s $ORIG_SRC/Tools/sitl_gazebo ${CATKIN_DIR}/src/mavlink_sitl_gazebo |
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fi |
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cd $CATKIN_DIR |
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catkin_make |
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. ./devel/setup.bash |
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echo "<=====" |
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# print paths to user |
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echo -e "JOB_DIR\t\t: $JOB_DIR" |
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echo -e "ROS_HOME\t: $ROS_HOME" |
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echo -e "CATKIN_DIR\t: $CATKIN_DIR" |
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echo -e "BUILD_DIR\t: $BUILD_DIR" |
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echo -e "SRC_DIR\t\t: $SRC_DIR" |
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echo -e "ROS_TEST_RESULT_DIR\t: $ROS_TEST_RESULT_DIR" |
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echo -e "ROS_LOG_DIR\t\t: $ROS_LOG_DIR" |
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echo -e "PX4_LOG_DIR\t\t: $PX4_LOG_DIR" |
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echo -e "TEST_RESULT_TARGET_DIR\t: $TEST_RESULT_TARGET_DIR" |
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# don't exit on error anymore (because single tests or exports might fail) |
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# however, stop executing tests after the first failure |
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set +e |
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echo "=====> run tests" |
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test $? -eq 0 && rostest px4 mavros_posix_tests_iris.launch gui:=$gui |
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# commented out optical flow test for now since ci server has |
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# an issue producing the simulated flow camera currently |
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#test $? -eq 0 && rostest px4 mavros_posix_tests_iris_opt_flow.launch gui:=$gui |
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test $? -eq 0 && rostest px4 mavros_posix_tests_standard_vtol.launch gui:=$gui |
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TEST_RESULT=$? |
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echo "<=====" |
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# TODO |
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echo "=====> process test results" |
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# cd $BAGS |
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# for bag in `ls *.bag` |
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# do |
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# echo "processing bag: $bag" |
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# python $EXPORT_CHARTS $CHARTS $bag |
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# done |
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echo "copy build test results to job directory" |
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cp -r $ROS_TEST_RESULT_DIR/* ${TEST_RESULT_TARGET_DIR} |
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cp -r $ROS_LOG_DIR/* ${TEST_RESULT_TARGET_DIR} |
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cp -r $PX4_LOG_DIR/* ${TEST_RESULT_TARGET_DIR} |
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# cp $BAGS/*.bag ${TEST_RESULT_TARGET_DIR}/ |
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# cp -r $CHARTS ${TEST_RESULT_TARGET_DIR}/ |
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echo "<=====" |
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# need to return error if tests failed, else Jenkins won't notice the failure |
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exit $TEST_RESULT |
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@ -1,19 +0,0 @@ |
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#!/bin/bash |
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# |
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# Upload SITL CI logs to Flight Review |
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# |
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# License: according to LICENSE.md in the root directory of the PX4 Firmware repository |
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if [ -z "$WORKSPACE" ] || [ -z "${ghprbActualCommitAuthorEmail}" ] || [ -z "${ghprbPullDescription}" ]; then |
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echo "Environment not set. Needs to be called from within Jenkins." |
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exit 1 |
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fi |
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echo "Uploading test logs to Flight Review" |
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CMD="$WORKSPACE/Firmware/Tools/upload_log.py" |
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find "$WORKSPACE/test_results" -name \*.ulg -exec "$CMD" -q \ |
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--description "${ghprbPullDescription}" --source CI "{}" \; |
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# XXX: move up if we want email notifications |
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# --email "${ghprbActualCommitAuthorEmail}" \ |
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@ -0,0 +1,21 @@ |
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<launch> |
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<!-- Posix SITL MAVROS integration tests --> |
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<arg name="ns" default="/"/> |
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<arg name="headless" default="true"/> |
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<arg name="gui" default="false"/> |
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<arg name="est" default="ekf2"/> |
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<arg name="mission"/> |
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<include file="$(find px4)/launch/mavros_posix_sitl.launch"> |
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<arg name="ns" value="$(arg ns)"/> |
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<arg name="headless" value="$(arg headless)"/> |
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<arg name="gui" value="$(arg gui)"/> |
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<arg name="vehicle" value="standard_vtol"/> |
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<arg name="est" value="$(arg est)"/> |
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</include> |
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<group ns="$(arg ns)"> |
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<test test-name="mission_test" pkg="px4" type="mission_test.py" time-limit="300.0" args="$(arg mission)" /> |
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</group> |
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</launch> |
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@ -0,0 +1,20 @@ |
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<launch> |
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<!-- Posix SITL MAVROS integration tests --> |
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<arg name="ns" default="/"/> |
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<arg name="headless" default="true"/> |
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<arg name="gui" default="false"/> |
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<arg name="est" default="lpe"/> |
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<include file="$(find px4)/launch/mavros_posix_sitl.launch"> |
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<arg name="ns" value="$(arg ns)"/> |
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<arg name="headless" value="$(arg headless)"/> |
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<arg name="gui" value="$(arg gui)"/> |
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<arg name="vehicle" value="iris"/> |
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<arg name="est" value="$(arg est)"/> |
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</include> |
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<group ns="$(arg ns)"> |
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<test test-name="mavros_offboard_posctl_test" pkg="px4" type="mavros_offboard_posctl_test.py" time-limit="120.0"/> |
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</group> |
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</launch> |
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@ -0,0 +1,11 @@ |
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#! /bin/bash |
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DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd ) |
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PX4_SRC_DIR=${DIR}/.. |
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source /opt/ros/kinetic/setup.bash |
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source ${PX4_SRC_DIR}/Tools/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/posix_sitl_default |
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export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/sitl_gazebo |
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rostest px4 "$@" |
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