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 $BUILDROOT
export GIT_VERSION="ci_test"
export CHIBIOS_GIT_VERSION="ci_test"
export CCACHE_SLOPPINESS="include_file_ctime,include_file_mtime"
autotest_args=""
# If CI_BUILD_TARGET is not set, build 3 different ones
if [ -z "$CI_BUILD_TARGET" ]; then
CI_BUILD_TARGET="sitl linux fmuv3"
fi
waf=modules/waf/waf-light
echo "Targets: $CI_BUILD_TARGET"
echo "Compiler: $c_compiler"
pymavlink_installed=0
mavproxy_installed=0
function run_autotest() {
NAME="$1"
BVEHICLE="$2"
RVEHICLE="$3"
# report on what cpu's we have for later log review if needed
cat /proc/cpuinfo
if [ $mavproxy_installed -eq 0 ]; then
echo "Installing MAVProxy"
pushd /tmp
git clone --recursive https://github.com/ardupilot/MAVProxy
pushd MAVProxy
python setup.py build install --user --force
popd
popd
mavproxy_installed=1
# now uninstall the version of pymavlink pulled in by MAVProxy deps:
python -m pip uninstall -y pymavlink
fi
if [ $pymavlink_installed -eq 0 ]; then
echo "Installing pymavlink"
git submodule update --init --recursive
(cd modules/mavlink/pymavlink && python setup.py build install --user)
pymavlink_installed=1
fi
unset BUILDROOT
echo "Running SITL $NAME test"
w=""
if [ $c_compiler == "clang" ]; then
w="$w --check-c-compiler=clang --check-cxx-compiler=clang++"
fi
if [ $NAME == "Rover" ]; then
w="$w --enable-math-check-indexes"
fi
if [ "x$CI_BUILD_DEBUG" != "x" ]; then
w="$w --debug"
fi
if [ $NAME == "Examples" ]; then
w="$w --speedup=5 --timeout=14400 --debug --no-clean"
fi
Tools/autotest/autotest.py --show-test-timings --waf-configure-args="$w" "$BVEHICLE" "$RVEHICLE"
ccache -s && ccache -z
}
for t in $CI_BUILD_TARGET; do
# special case for SITL testing in CI
if [ "$t" == "sitltest-heli" ]; then
run_autotest "Heli" "build.Helicopter" "test.Helicopter"
continue
fi
# travis-ci
if [ "$t" == "sitltest-copter-tests1" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests1"
continue
fi
#github actions ci
if [ "$t" == "sitltest-copter-tests1a" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests1a"
continue
fi
if [ "$t" == "sitltest-copter-tests1b" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests1b"
continue
fi
if [ "$t" == "sitltest-copter-tests1c" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests1c"
continue
fi
if [ "$t" == "sitltest-copter-tests1d" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests1d"
continue
fi
if [ "$t" == "sitltest-copter-tests1e" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests1e"
continue
fi
# travis-ci
if [ "$t" == "sitltest-copter-tests2" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests2"
continue
fi
#github actions ci
if [ "$t" == "sitltest-copter-tests2a" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests2a"
continue
fi
if [ "$t" == "sitltest-copter-tests2b" ]; then
run_autotest "Copter" "build.Copter" "test.CopterTests2b"
continue
fi
if [ "$t" == "sitltest-can" ]; then
echo "Building SITL Periph GPS"
$waf configure --board sitl
$waf copter
run_autotest "Copter" "build.SITLPeriphGPS" "test.CAN"
continue
fi
if [ "$t" == "sitltest-plane" ]; then
run_autotest "Plane" "build.Plane" "test.Plane"
continue
fi
if [ "$t" == "sitltest-quadplane" ]; then
run_autotest "QuadPlane" "build.Plane" "test.QuadPlane"
continue
fi
if [ "$t" == "sitltest-rover" ]; then
run_autotest "Rover" "build.Rover" "test.Rover"
continue
fi
if [ "$t" == "sitltest-tracker" ]; then
run_autotest "Tracker" "build.Tracker" "test.Tracker"
continue
fi
if [ "$t" == "sitltest-balancebot" ]; then
run_autotest "BalanceBot" "build.Rover" "test.BalanceBot"
continue
fi
if [ "$t" == "sitltest-sub" ]; then
run_autotest "Sub" "build.Sub" "test.Sub"
continue
fi
if [ "$t" == "unit-tests" ]; then
run_autotest "Unit Tests" "build.unit_tests" "run.unit_tests"
continue
fi
if [ "$t" == "examples" ]; then
./waf configure --board=linux --debug
./waf examples
run_autotest "Examples" "--no-clean" "run.examples"
continue
fi
if [ "$t" == "revo-bootloader" ]; then
echo "Building revo bootloader"
$waf configure --board revo-mini --bootloader
$waf clean
$waf bootloader
continue
fi
if [ "$t" == "periph-build" ]; then
echo "Building f103 bootloader"
$waf configure --board f103-GPS --bootloader
$waf clean
$waf bootloader
echo "Building f103 peripheral fw"
$waf configure --board f103-GPS
$waf clean
$waf AP_Periph
echo "Building f303 bootloader"
$waf configure --board f303-Universal --bootloader
$waf clean
$waf bootloader
echo "Building f303 peripheral fw"
$waf configure --board f303-Universal
$waf clean
$waf AP_Periph
echo "Building CubeOrange peripheral fw"
$waf configure --board CubeOrange-periph
$waf clean
$waf AP_Periph
continue
fi
if [ "$t" == "CubeOrange-bootloader" ]; then
echo "Building CubeOrange bootloader"
$waf configure --board CubeOrange --bootloader
$waf clean
$waf bootloader
continue
fi
if [ "$t" == "stm32f7" ]; then
echo "Building mRoX21-777/"
$waf configure --Werror --board mRoX21-777
$waf clean
$waf plane
# test bi-directional dshot build
echo "Building KakuteF7Mini"
$waf configure --Werror --board KakuteF7Mini
# test bi-directional dshot build and smallest flash
echo "Building KakuteF7"
$waf configure --Werror --board KakuteF7
$waf clean
$waf copter
continue
fi
if [ "$t" == "stm32h7" ]; then
echo "Building Durandal"
$waf configure --board Durandal
$waf clean
$waf copter
continue
fi
if [ "$t" == "fmuv2-plane" ]; then
echo "Building fmuv2 plane"
$waf configure --board fmuv2
$waf clean
$waf plane
continue
fi
if [ "$t" == "iofirmware" ]; then
echo "Building iofirmware"
$waf configure --board iomcu
$waf clean
$waf iofirmware
continue
fi
if [ "$t" == "navigator" ]; then
echo "Building navigator"
$waf configure --board navigator --toolchain=arm-linux-musleabihf
$waf sub --static
continue
fi
if [ "$t" == "replay" ]; then
echo "Building replay"
$waf configure --board sitl --debug --disable-scripting
$waf replay
echo "Building AP_DAL standalone test"
$waf configure --board sitl --debug --disable-scripting --no-gcs
$waf --target tools/AP_DAL_Standalone
$waf clean
continue
fi
if [ "$t" == "python-cleanliness" ]; then
echo "Checking Python code cleanliness"
./Tools/scripts/run_flake8.py
continue
fi
if [ "$t" == "configure-all" ]; then
echo "Checking configure of all boards"
./Tools/scripts/configure_all.py
continue
fi
if [[ -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
continue
fi
done
python Tools/autotest/param_metadata/param_parse.py --vehicle Rover
python Tools/autotest/param_metadata/param_parse.py --vehicle AntennaTracker
python Tools/autotest/param_metadata/param_parse.py --vehicle ArduCopter
python Tools/autotest/param_metadata/param_parse.py --vehicle ArduPlane
python Tools/autotest/param_metadata/param_parse.py --vehicle ArduSub
echo build OK
exit 0