px4-firmware/.ci/Jenkinsfile-hardware

#!/usr/bin/env groovy

pipeline {
  agent none
  stages {
    stage('Hardware Test') {

      parallel {

        stage("cubepilot_cubeorange_console") {
          stages {
            stage("build cubepilot_cubeorange_console") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
                sh 'make cubepilot_cubeorange_console'
                sh 'make sizes'
                sh 'ccache -s'
                stash includes: 'build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf', name: 'cubepilot_cubeorange_console'
              }
              post {
                always {
                    sh 'make distclean'
                }
              }
            } // stage build
            stage("test") {
              agent {
                label 'cubepilot_cubeorange'
              }
              stages {
                stage("flash") {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'cubepilot_cubeorange_console'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_console/cubepilot_cubeorange_console.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/cubepilot_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
                  }
                }
                stage("status") {
                  steps {
                    statusFTDI()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                  }
                }
                stage("reset") {
                  steps {
                    cleanupFTDI();
                  }
                }
              }
              options {
                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
        }

        // stage("px4_fmu-v2_test") {
        //   stages {
        //     stage("build px4_fmu-v2_test") {
        //       agent {
        //         docker {
        //           image 'px4io/px4-dev-nuttx-focal:2020-09-14'
        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
        //         }
        //       }
        //       steps {
        //         sh 'export'
        //         sh 'make distclean'
        //         sh 'ccache -s'
        //         sh 'git fetch --tags'
        //         sh 'make px4_fmu-v2_test'
        //         sh 'make sizes'
        //         sh 'ccache -s'
        //         stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
        //       }
        //       post {
        //         always {
        //             sh 'make distclean'
        //         }
        //       }
        //     } // stage build
        //     stage("test") {
        //       agent {
        //         label 'px4_fmu-v2'
        //       }
        //       stages {
        //         stage("flash") {
        //           steps {
        //             sh 'export'
        //             sh 'find /dev/serial'
        //             unstash 'px4_fmu-v2_test'
        //             // flash board and watch bootup
        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
        //           }
        //         }
        //         stage("reset") {
        //           steps {
        //             cleanupFTDI();
        //           }
        //         }
        //       }
        //       options {
        //         timeout(time: 90, unit: 'MINUTES')
        //       }
        //     }
        //   }
        // }

        stage("px4_fmu-v3_default") {
          stages {
            stage("build px4_fmu-v3_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
                sh 'make px4_fmu-v3_default'
                sh 'make sizes'
                sh 'ccache -s'
                stash includes: 'build/px4_fmu-v3_default/px4_fmu-v3_default.elf', name: 'px4_fmu-v3_default'
              }
              post {
                always {
                    sh 'make distclean'
                }
              }
            } // stage build
            stage("test") {
              agent {
                label 'px4_fmu-v3'
              }
              stages {
                stage("flash") {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v3_default'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
                  steps {
                    statusFTDI()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                  }
                }
                stage("reset") {
                  steps {
                    cleanupFTDI();
                  }
                }
              }
              options {
                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
        }

        stage("px4_fmu-v4_default") {
          stages {
            stage("build px4_fmu-v4_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
                sh 'make px4_fmu-v4_default'
                sh 'make sizes'
                sh 'ccache -s'
                stash includes: 'build/px4_fmu-v4_default/px4_fmu-v4_default.elf', name: 'px4_fmu-v4_default'
              }
              post {
                always {
                    sh 'make distclean'
                }
              }
            } // stage build
            stage("test") {
              agent {
                label 'px4_fmu-v4'
              }
              stages {
                stage("flash") {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v4_default'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
                  steps {
                    statusFTDI()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                  }
                }
                stage("reset") {
                  steps {
                    cleanupFTDI();
                  }
                }
              }
              options {
                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
        }

        stage("px4_fmu-v4pro_default") {
          stages {
            stage("build px4_fmu-v4pro_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
                sh 'make px4_fmu-v4pro_default'
                sh 'make sizes'
                sh 'ccache -s'
                stash includes: 'build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf', name: 'px4_fmu-v4pro_default'
              }
              post {
                always {
                    sh 'make distclean'
                }
              }
            } // stage build
            stage("test") {
              agent {
                label 'px4_fmu-v4pro'
              }
              stages {
                stage("flash") {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v4pro_default'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
                  steps {
                    statusFTDI()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                  }
                }
                stage("reset") {
                  steps {
                    cleanupFTDI();
                  }
                }
              }
              options {
                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
        }

        stage("px4_fmu-v5_default") {
          stages {
            stage("build px4_fmu-v5_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
                sh 'make px4_fmu-v5_default'
                sh 'make sizes'
                sh 'ccache -s'
                stash includes: 'build/px4_fmu-v5_default/px4_fmu-v5_default.elf', name: 'px4_fmu-v5_default'
              }
              post {
                always {
                    sh 'make distclean'
                }
              }
            } // stage build
            stage("test") {
              agent {
                label 'px4_fmu-v5'
              }
              stages {
                stage("flash") {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v5_default'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
                  steps {
                    statusFTDI()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                  }
                }
                stage("reset") {
                  steps {
                    cleanupFTDI();
                  }
                }
              }
              options {
                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
        }

        stage("px4_fmu-v5_debug") {
          stages {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
                sh 'make px4_fmu-v5_debug'
                sh 'make sizes'
                sh 'ccache -s'
                stash includes: 'build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf', name: 'px4_fmu-v5_debug'
              }
              post {
                always {
                    sh 'make distclean'
                }
              }
            } // stage build
            stage("test") {
              agent {
                label 'px4_fmu-v5'
              }
              stages {
                stage("flash") {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
                    unstash 'px4_fmu-v5_debug'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
                  }
                }
                stage("status") {
                  steps {
                    statusFTDI()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                  }
                }
                stage("reset") {
                  steps {
                    cleanupFTDI();
                  }
                }
              }
              options {
                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
        }

        stage("px4_fmu-v5_optimized") {
          stages {
            stage("build px4_fmu-v5_optimized") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
                sh 'make px4_fmu-v5_optimized'
                sh 'make sizes'
                sh 'ccache -s'
                stash includes: 'build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf', name: 'px4_fmu-v5_optimized'
              }
              post {
                always {
                    sh 'make distclean'
                }
              }
            } // stage build
            stage("test") {
              agent {
                label 'px4_fmu-v5'
              }
              stages {
                stage("flash") {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v5_optimized'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
                  steps {
                    statusFTDI()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                  }
                }
                stage("reset") {
                  steps {
                    cleanupFTDI();
                  }
                }
              }
              options {
                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
        }

        stage("px4_fmu-v5_stackcheck") {
          stages {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
                sh 'make px4_fmu-v5_stackcheck'
                sh 'make sizes'
                sh 'ccache -s'
                stash includes: 'build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf', name: 'px4_fmu-v5_stackcheck'
              }
              post {
                always {
                    sh 'make distclean'
                }
              }
            } // stage build
            stage("test") {
              agent {
                label 'px4_fmu-v5'
              }
              stages {
                stage("flash") {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save" || true'
                    unstash 'px4_fmu-v5_stackcheck'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
                  }
                }
                stage("status") {
                  steps {
                    statusFTDI()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                  }
                }
                stage("reset") {
                  steps {
                    cleanupFTDI();
                  }
                }
              }
              options {
                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
        }

        stage("modalai_fc-v1_default") {
          stages {
            stage("build modalai_fc-v1_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
                sh 'make modalai_fc-v1_default'
                sh 'make sizes'
                sh 'ccache -s'
                stash includes: 'build/modalai_fc-v1_default/modalai_fc-v1_default.elf', name: 'modalai_fc-v1_default'
              }
              post {
                always {
                    sh 'make distclean'
                }
              }
            } // stage build
            stage("test") {
              agent {
                label 'modalai_fc-v1'
              }
              stages {
                stage("flash") {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'modalai_fc-v1_default'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
                  steps {
                    statusFTDI()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                  }
                }
                stage("reset") {
                  steps {
                    cleanupFTDI()
                  }
                }
              }
              options {
                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
        }

        stage("holybro_durandal-v1_default") {
          stages {
            stage("build holybro_durandal-v1_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
                sh 'make holybro_durandal-v1_default'
                sh 'make sizes'
                sh 'ccache -s'
                stash includes: 'build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf', name: 'holybro_durandal-v1_default'
              }
              post {
                always {
                    sh 'make distclean'
                }
              }
            } // stage build
            stage("test") {
              agent {
                label 'holybro_durandal-v1'
              }
              stages {
                stage("flash") {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'holybro_durandal-v1_default'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set DSHOT_CONFIG 600"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_USE_IO 0"'          // for dshot
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
                  }
                }
                stage("status") {
                  steps {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dshot status"'
                    statusFTDI()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
                  }
                }
                stage("reset") {
                  steps {
                    cleanupFTDI();
                  }
                }
              }
              options {
                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
        }

        stage("nxp_fmuk66-v3_default") {
          stages {
            stage("build nxp_fmuk66-v3_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
                sh 'export'
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
                sh 'make nxp_fmuk66-v3_default'
                sh 'make sizes'
                sh 'ccache -s'
                stash includes: 'build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf', name: 'nxp_fmuk66-v3_default'
              }
              post {
                always {
                    sh 'make distclean'
                }
              }
            } // stage build
            stage("test") {
              agent {
                label 'nxp_fmuk66-v3'
              }
              stages {
                stage("flash") {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'nxp_fmuk66-v3_default'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
                  steps {
                    statusFTDI()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*` || true' // allow failure due to intermittent serial console issues
                  }
                }
                stage("reset") {
                  steps {
                    cleanupFTDI();
                  }
                }
              }
              options {
                timeout(time: 90, unit: 'MINUTES')
              }
            } // stage test
          }
        }

      } // parallel
    } // stage Hardware Test
  } // stages
  environment {
    CCACHE_DIR = '/tmp/ccache'
    CI = true
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '40'))
    timeout(time: 90, unit: 'MINUTES')
  }
}

void statusFTDI() {
  // run logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
  // status commands
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "board_adc test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander check"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 2; param show CAL_ACC*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2; param show CAL_GYRO*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2; param show SENS_BOARD*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 2; param show CAL_MAG*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_local_position"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_selector_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_sensor_bias"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_combined"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_imu_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_local_position"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_magnetometer"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /dev"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/meminfo"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/uptime"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ps"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output0"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm info -d /dev/pwm_output1"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "pwm_out status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -r 2"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload; top once; listener cpuload"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
  // stop logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
}

void cleanupFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dataman stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'

  // wipe sdcard
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "umount /fs/microsd"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mkfatfs /dev/mmcsd0"'

  // drop any uncommited hardfaults
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "hardfault_log rearm"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "hardfault_log reset"'

  // erase mtd
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'

  // disable buzzer and cleanup storage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param reset_all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_DIRS_MAX 1"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'

  // reboot
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
}