ardupilot/Tools/scripts/build_ci.sh

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#!/bin/bash
# useful script to test all the different build types that we support.
# This helps when doing large merges
# Andrew Tridgell, November 2011
. ~/.profile
set -ex
# CXX and CC are exported by default by travis
c_compiler=${CC:-gcc}
cxx_compiler=${CXX:-g++}
unset CXX CC
export BUILDROOT=/tmp/ci.build
rm -rf $BUILDROOT
export GIT_VERSION="ci_test"
export NUTTX_GIT_VERSION="ci_test"
export PX4_GIT_VERSION="ci_test"
export CHIBIOS_GIT_VERSION="ci_test"
export CCACHE_SLOPPINESS="include_file_ctime,include_file_mtime"
# If CI_BUILD_TARGET is not set, build 3 different ones
if [ -z "$CI_BUILD_TARGET" ]; then
CI_BUILD_TARGET="sitl linux px4-v2"
fi
if [[ "$CI_BUILD_TARGET" == *"px4"* ]]; then
export CCACHE_MAXSIZE="250M"
elif [[ "$CI_BUILD_TARGET" == "sitltest" ]]; then
export CCACHE_MAXSIZE="20M"
else
export CCACHE_MAXSIZE="150M"
fi
declare -A waf_supported_boards
waf=modules/waf/waf-light
# get list of boards supported by the waf build
for board in $($waf list_boards | head -n1); do waf_supported_boards[$board]=1; done
function get_time {
date -u "+%s"
}
echo "Targets: $CI_BUILD_TARGET"
for t in $CI_BUILD_TARGET; do
# special case for SITL testing in CI
if [ $t == "sitltest-copter" ]; then
echo "Installing pymavlink"
git submodule init
git submodule update
(cd modules/mavlink/pymavlink && python setup.py build install --user)
unset BUILDROOT
echo "Running SITL QuadCopter test"
Tools/autotest/autotest.py build.ArduCopter fly.ArduCopter
ccache -s && ccache -z
continue
fi
if [ $t == "sitltest-plane" ]; then
echo "Installing pymavlink"
git submodule init
git submodule update
(cd modules/mavlink/pymavlink && python setup.py build install --user)
unset BUILDROOT
echo "Running SITL Plane test"
Tools/autotest/autotest.py build.ArduPlane fly.ArduPlane
ccache -s && ccache -z
continue
fi
if [ $t == "sitltest-quadplane" ]; then
echo "Installing pymavlink"
git submodule init
git submodule update
(cd modules/mavlink/pymavlink && python setup.py build install --user)
unset BUILDROOT
echo "Running SITL QuadPlane test"
Tools/autotest/autotest.py build.ArduPlane fly.QuadPlane
ccache -s && ccache -z
continue
fi
if [ $t == "sitltest-rover" ]; then
echo "Installing pymavlink"
git submodule init
git submodule update
(cd modules/mavlink/pymavlink && python setup.py build install --user)
unset BUILDROOT
echo "Running SITL Rover test"
Tools/autotest/autotest.py build.APMrover2 drive.APMrover2
ccache -s && ccache -z
continue
fi
# only do make-based builds for GCC, when target is PX4-v3 or build is launched by a scheduled job and target is a PX4 board or SITL
if [[ "$cxx_compiler" != "clang++" && ($t == "px4-v3" || (-n ${CI_CRON_JOB+1} && ($t == "px4"* || $t == "sitl"))) ]]; then
echo "Starting make based build for target ${t}..."
for v in "ArduPlane" "ArduCopter" "APMrover2" "ArduSub" "AntennaTracker"; do
echo "Building $v for ${t}..."
pushd $v
make clean
if [[ $t == "px4"* ]]; then
make px4-cleandep
fi
start_time=$(get_time)
CCACHE_DISABLE="true" make $t -j$(nproc)
diff_time=$(($(get_time)-$start_time))
echo -e "\033[32m'make' finished successfully (${diff_time}s)\033[0m"
popd
done
fi
if [[ -n ${waf_supported_boards[$t]} && -z ${CI_CRON_JOB+1} ]]; then
echo "Starting waf build for board ${t}..."
$waf configure --board $t \
--enable-benchmarks \
--enable-header-checks \
--check-c-compiler="$c_compiler" \
--check-cxx-compiler="$cxx_compiler"
$waf clean
$waf all
ccache -s && ccache -z
if [[ $t == linux ]]; then
$waf check
fi
fi
done
python Tools/autotest/param_metadata/param_parse.py --no-emit --vehicle APMrover2
python Tools/autotest/param_metadata/param_parse.py --no-emit --vehicle AntennaTracker
python Tools/autotest/param_metadata/param_parse.py --no-emit --vehicle ArduCopter
python Tools/autotest/param_metadata/param_parse.py --no-emit --vehicle ArduPlane
python Tools/autotest/param_metadata/param_parse.py --no-emit --vehicle ArduSub
echo build OK
exit 0