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move Jenkins MAVROS SITL tests entirely to Github Actions

sbg
Daniel Agar 5 years ago
parent
c7e8957f2e
commit
b8d43b5a88
4 changed files with 285 additions and 64 deletions
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  1. 54
      .ci/Jenkinsfile-SITL_tests
  2. 129
      .github/workflows/mavros_avoidance_tests.yml
  3. 36
      .github/workflows/mavros_mission_tests.yml
  4. 130
      .github/workflows/mavros_offboard_tests.yml

54
.ci/Jenkinsfile-SITL_tests
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@ -35,60 +35,6 @@ pipeline { @@ -35,60 +35,6 @@ pipeline {
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",

129
.github/workflows/mavros_avoidance_tests.yml
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@ -0,0 +1,129 @@ @@ -0,0 +1,129 @@
name: MAVROS Avoidance Tests
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
config:
- {test_file: "mavros_posix_test_avoidance.test", vehicle: "iris_obs_avoid", mission: "avoidance", build_type: "RelWithDebInfo"}
- {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
container:
image: px4io/px4-dev-ros-melodic:2020-04-01
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: check environment
run: export
- name: Build PX4 and sitl_gazebo
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: |
ccache -z
make px4_sitl_default
make px4_sitl_default sitl_gazebo
ccache -s
- name: Core dump settings
run: |
ulimit -c unlimited
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
- name: Run SITL tests
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: |
export
./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
- name: Look at core files
if: failure()
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
- name: Upload px4 coredump
if: failure()
uses: actions/upload-artifact@v2-preview
with:
name: coredump
path: px4.core
# - name: ecl EKF analysis
# if: always()
# run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
- name: Upload logs to flight review
if: always()
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
- name: Upload px4 binary
if: failure()
uses: actions/upload-artifact@v2
with:
name: binary
path: build/px4_sitl_default/bin/px4
- name: Store PX4 log
if: failure()
uses: actions/upload-artifact@v2
with:
name: px4_log
path: ~/.ros/log/*/*.ulg
- name: Store ROS log
if: failure()
uses: actions/upload-artifact@v2
with:
name: ros_log
path: ~/.ros/**/rostest-*.log
# Report test coverage
- name: Upload coverage
if: contains(matrix.config.build_type, 'Coverage')
run: |
git config --global credential.helper "" # disable the keychain credential helper
git config --global --add credential.helper store # enable the local store credential helper
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
mkdir -p coverage
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
- name: Upload coverage information to Codecov
if: contains(matrix.config.build_type, 'Coverage')
uses: codecov/codecov-action@v1
with:
token: ${{ secrets.CODECOV_TOKEN }}
flags: mavros_avoidance
file: coverage/lcov.info

36
.github/workflows/mavros_sitl_tests.yml → .github/workflows/mavros_mission_tests.yml
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@ -1,4 +1,4 @@ @@ -1,4 +1,4 @@
name: MAVROS SITL Tests
name: MAVROS Mission Tests
on:
push:
@ -73,10 +73,9 @@ jobs: @@ -73,10 +73,9 @@ jobs:
- name: Run SITL tests
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
TEST_FILE: "mavros_posix_test_mission.test"
TEST_MISSION: ${{matrix.config.mission}}
TEST_VEHICLE: ${{matrix.config.vehicle}}
run: make rostest_run
run: |
export
./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
- name: Look at core files
if: failure()
@ -88,18 +87,35 @@ jobs: @@ -88,18 +87,35 @@ jobs:
name: coredump
path: px4.core
- name: ecl EKF analysis
if: always()
run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
- name: Upload logs to flight review
run: |
find ~ -name *.ulg
./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
if: always()
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
- name: Upload px4 binary
if: failure()
uses: actions/upload-artifact@v2-preview
uses: actions/upload-artifact@v2
with:
name: binary
path: build/px4_sitl_default/bin/px4
- name: Store PX4 log
if: failure()
uses: actions/upload-artifact@v2
with:
name: px4_log
path: ~/.ros/log/*/*.ulg
- name: Store ROS log
if: failure()
uses: actions/upload-artifact@v2
with:
name: ros_log
path: ~/.ros/**/rostest-*.log
# Report test coverage
- name: Upload coverage
if: contains(matrix.config.build_type, 'Coverage')
@ -115,5 +131,5 @@ jobs: @@ -115,5 +131,5 @@ jobs:
uses: codecov/codecov-action@v1
with:
token: ${{ secrets.CODECOV_TOKEN }}
flags: mavsdk
flags: mavros_mission
file: coverage/lcov.info

130
.github/workflows/mavros_offboard_tests.yml
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@ -0,0 +1,130 @@ @@ -0,0 +1,130 @@
name: MAVROS Offboard Tests
on:
push:
branches:
- 'master'
pull_request:
branches:
- '*'
jobs:
build:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
config:
- {test_file: "mavros_posix_tests_offboard_posctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
#- {test_file: "mavros_posix_tests_offboard_attctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
container:
image: px4io/px4-dev-ros-melodic:2020-04-01
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
steps:
- uses: actions/checkout@v1
with:
token: ${{ secrets.ACCESS_TOKEN }}
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
shell: cmake -P {0}
run: |
string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
message("::set-output name=timestamp::${current_date}")
- name: ccache cache files
uses: actions/cache@v2
with:
path: ~/.ccache
key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
- name: setup ccache
run: |
mkdir -p ~/.ccache
echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
echo "compression = true" >> ~/.ccache/ccache.conf
echo "compression_level = 6" >> ~/.ccache/ccache.conf
echo "max_size = 400M" >> ~/.ccache/ccache.conf
ccache -s
ccache -z
- name: check environment
run: export
- name: Build PX4 and sitl_gazebo
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: |
ccache -z
make px4_sitl_default
make px4_sitl_default sitl_gazebo
ccache -s
- name: Core dump settings
run: |
ulimit -c unlimited
echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
- name: Run SITL tests
env:
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
run: |
export
./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
- name: Look at core files
if: failure()
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
- name: Upload px4 coredump
if: failure()
uses: actions/upload-artifact@v2-preview
with:
name: coredump
path: px4.core
- name: ecl EKF analysis
if: always()
run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
- name: Upload logs to flight review
if: always()
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
- name: Upload px4 binary
if: failure()
uses: actions/upload-artifact@v2
with:
name: binary
path: build/px4_sitl_default/bin/px4
- name: Store PX4 log
if: failure()
uses: actions/upload-artifact@v2
with:
name: px4_log
path: ~/.ros/log/*/*.ulg
- name: Store ROS log
if: failure()
uses: actions/upload-artifact@v2
with:
name: ros_log
path: ~/.ros/**/rostest-*.log
# Report test coverage
- name: Upload coverage
if: contains(matrix.config.build_type, 'Coverage')
run: |
git config --global credential.helper "" # disable the keychain credential helper
git config --global --add credential.helper store # enable the local store credential helper
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
mkdir -p coverage
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
- name: Upload coverage information to Codecov
if: contains(matrix.config.build_type, 'Coverage')
uses: codecov/codecov-action@v1
with:
token: ${{ secrets.CODECOV_TOKEN }}
flags: mavros_offboard
file: coverage/lcov.info
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