From 5de5d6ea49e25ab846e82e7b8cf60c3e70e38dcd Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 5 May 2018 16:55:36 -0400
Subject: [PATCH] Jenkins simple mission code coverage build

---
 Jenkinsfile                            | 18 ++++++++++++++++++
 Makefile                               |  9 ++++++++-
 cmake/common/coverage.cmake            |  6 +++---
 platforms/posix/cmake/sitl_tests.cmake |  3 ++-
 4 files changed, 31 insertions(+), 5 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index dd005f9fb6..51cace3605 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -225,6 +225,24 @@ pipeline {
           }
         }
 
+        stage('test mission (code coverage)') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2018-03-30'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
+            sh 'make tests_mission_coverage'
+            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
+              sh 'curl -s https://codecov.io/bash | bash -s'
+            }
+            sh 'make distclean'
+          }
+        }
+
         stage('check stack') {
           agent {
             docker {
diff --git a/Makefile b/Makefile
index 1b20acf043..88df8d7b58 100644
--- a/Makefile
+++ b/Makefile
@@ -279,7 +279,7 @@ format:
 
 # Testing
 # --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_offboard rostest
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard rostest
 
 tests:
 	@$(MAKE) --no-print-directory posix_sitl_default test_results \
@@ -302,6 +302,13 @@ rostest: posix_sitl_default
 tests_mission: rostest
 	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
 
+tests_mission_coverage:
+	@$(MAKE) clean
+	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol
+	@$(MAKE) --no-print-directory posix_sitl_default generate_coverage
+
 tests_offboard: rostest
 	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
 	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
diff --git a/cmake/common/coverage.cmake b/cmake/common/coverage.cmake
index 605b01efa7..e963be4c6a 100644
--- a/cmake/common/coverage.cmake
+++ b/cmake/common/coverage.cmake
@@ -69,15 +69,15 @@ FUNCTION(SETUP_TARGET_FOR_COVERAGE _targetname _testrunner _outputname)
         message(FATAL_ERROR "genhtml required")
         endif()
 
-        set(coverage_info "${CMAKE_BINARY_DIR}/coverage.info")
+        set(coverage_info "${CMAKE_BINARY_DIR}/${_outputname}.info")
         set(coverage_cleaned "${coverage_info}.cleaned")
 
         separate_arguments(test_command UNIX_COMMAND "${_testrunner}")
 
         # Setup target
-        add_custom_COMMAND(OUTPUT ${coverage_info}
+        add_custom_command(OUTPUT ${coverage_info}
                 # Cleanup lcov
-                COMMAND ${LCOV_PATH} --quiet --directory . --zerocounters
+                #COMMAND ${LCOV_PATH} --quiet --directory . --zerocounters
 
                 # Run tests
                 COMMAND ${test_command} ${ARGV3}
diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake
index 9743dd5a11..47ba74564f 100644
--- a/platforms/posix/cmake/sitl_tests.cmake
+++ b/platforms/posix/cmake/sitl_tests.cmake
@@ -95,7 +95,8 @@ add_custom_target(test_results
 set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
 
 if (CMAKE_BUILD_TYPE STREQUAL Coverage)
-	setup_target_for_coverage(test_coverage "${CMAKE_CTEST_COMMAND} --output-on-failure -T Test" coverage.info)
+	setup_target_for_coverage(test_coverage "${CMAKE_CTEST_COMMAND} --output-on-failure -T Test" tests)
+	setup_target_for_coverage(generate_coverage "${CMAKE_COMMAND} -E echo" generic)
 endif()
 
 add_custom_target(test_results_junit