forked from Archive/PX4-Autopilot
679 lines
21 KiB
Groovy
679 lines
21 KiB
Groovy
#!/usr/bin/env groovy
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pipeline {
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agent none
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stages {
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stage('Analysis') {
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parallel {
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stage('Catkin build on ROS workspace') {
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agent {
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docker {
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image 'px4io/px4-dev-ros-melodic:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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}
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}
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steps {
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sh 'ls -l'
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sh '''#!/bin/bash -l
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echo $0;
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mkdir -p catkin_ws/src;
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cd catkin_ws;
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git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
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git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
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git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
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source /opt/ros/melodic/setup.bash;
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catkin init;
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catkin build -j$(nproc) -l$(nproc);
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'''
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// test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
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sh '''#!/bin/bash -l
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echo $0;
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source catkin_ws/devel/setup.bash;
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rostest px4 pub_test.launch;
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'''
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}
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post {
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always {
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sh 'rm -rf catkin_ws'
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}
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failure {
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
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}
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}
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options {
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checkoutToSubdirectory('catkin_ws/src/Firmware')
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}
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}
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stage('Colcon build on ROS2 workspace') {
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agent {
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docker {
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image 'px4io/px4-dev-ros2-bouncy:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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}
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}
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steps {
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sh 'ls -l'
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sh '''#!/bin/bash -l
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echo $0;
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unset ROS_DISTRO;
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mkdir -p colcon_ws/src;
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cd colcon_ws;
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git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
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git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
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git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
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source /opt/ros/bouncy/setup.sh;
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source /opt/ros/melodic/setup.sh;
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colcon build --event-handlers console_direct+ --symlink-install;
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'''
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}
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post {
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always {
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sh 'rm -rf colcon_ws'
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}
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}
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options {
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checkoutToSubdirectory('colcon_ws/src/Firmware')
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}
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}
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stage('Style check') {
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agent {
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docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
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}
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steps {
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sh 'make check_format'
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}
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post {
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always {
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sh 'rm -rf catkin_ws'
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}
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}
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}
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stage('Bloaty px4_fmu-v2') {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -z'
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sh 'git fetch --tags'
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sh 'make px4_fmu-v2_default'
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sh 'make px4_fmu-v2_default bloaty_symbols'
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sh 'make px4_fmu-v2_default bloaty_compileunits'
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sh 'make px4_fmu-v2_default bloaty_inlines'
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sh 'make px4_fmu-v2_default bloaty_templates'
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sh 'make px4_fmu-v2_default bloaty_compare_master'
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sh 'make sizes'
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sh 'ccache -s'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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stage('Bloaty px4_fmu-v5') {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -z'
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sh 'git fetch --tags'
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sh 'make px4_fmu-v5_default'
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sh 'make px4_fmu-v5_default bloaty_symbols'
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sh 'make px4_fmu-v5_default bloaty_compileunits'
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sh 'make px4_fmu-v5_default bloaty_inlines'
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sh 'make px4_fmu-v5_default bloaty_templates'
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sh 'make px4_fmu-v5_default bloaty_compare_master'
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sh 'make sizes'
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sh 'ccache -s'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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stage('No-ninja px4_fmu-v2') {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -z'
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sh 'git fetch --tags'
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sh 'NO_NINJA_BUILD=1 make px4_fmu-v2_default'
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sh 'ccache -s'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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stage('No-ninja px4_fmu-v5') {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -z'
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sh 'git fetch --tags'
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sh 'NO_NINJA_BUILD=1 make px4_fmu-v5_default'
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sh 'ccache -s'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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stage('No-ninja SITL build') {
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agent {
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docker {
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image 'px4io/px4-dev-base-bionic:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -z'
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sh 'git fetch --tags'
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sh 'NO_NINJA_BUILD=1 make px4_sitl_default'
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sh 'ccache -s'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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stage('SITL unit tests') {
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agent {
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docker {
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image 'px4io/px4-dev-base-bionic:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -z'
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sh 'git fetch --tags'
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sh 'make tests'
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sh 'ccache -s'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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stage('Clang analyzer') {
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agent {
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docker {
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image 'px4io/px4-dev-clang:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'git fetch --tags'
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sh 'make scan-build'
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// publish html
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publishHTML target: [
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reportTitles: 'clang static analyzer',
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allowMissing: false,
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alwaysLinkToLastBuild: true,
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keepAll: true,
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reportDir: 'build/scan-build/report_latest',
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reportFiles: '*',
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reportName: 'Clang Static Analyzer'
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]
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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when {
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anyOf {
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branch 'master'
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branch 'beta'
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branch 'stable'
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branch 'pr-jenkins' // for testing
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}
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}
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}
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// stage('Clang tidy') {
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// agent {
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// docker {
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// image 'px4io/px4-dev-clang:2019-03-08'
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// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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// }
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// }
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// steps {
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// sh 'export'
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// retry (3) {
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// sh 'make distclean'
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// sh 'make clang-tidy-quiet'
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// }
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// }
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// post {
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// always {
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// sh 'make distclean'
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// }
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// }
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// }
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stage('Cppcheck') {
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agent {
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docker {
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image 'px4io/px4-dev-base-bionic:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'git fetch --tags'
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sh 'make cppcheck'
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// publish html
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publishHTML target: [
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reportTitles: 'Cppcheck',
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allowMissing: false,
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alwaysLinkToLastBuild: true,
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keepAll: true,
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reportDir: 'build/cppcheck/',
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reportFiles: '*',
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reportName: 'Cppcheck'
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]
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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when {
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anyOf {
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branch 'master'
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branch 'beta'
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branch 'stable'
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branch 'pr-jenkins' // for testing
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}
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}
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}
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stage('Check stack') {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'git fetch --tags'
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sh 'make px4_fmu-v2_default stack_check'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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stage('ShellCheck') {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'make shellcheck_all'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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stage('Module config validation') {
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agent {
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docker {
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image 'px4io/px4-dev-base-bionic:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'make validate_module_configs'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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} // parallel
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} // stage Analysis
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stage('Generate Metadata') {
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parallel {
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stage('Airframe') {
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agent {
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docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
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}
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steps {
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sh 'make distclean'
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sh 'make airframe_metadata'
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dir('build/px4_sitl_default/docs') {
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archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
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stash includes: 'airframes.md, airframes.xml', name: 'metadata_airframes'
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}
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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stage('Parameter') {
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agent {
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docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
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}
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steps {
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sh 'make distclean'
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sh 'make parameters_metadata'
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dir('build/px4_sitl_default/docs') {
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archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
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stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
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}
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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stage('Module') {
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agent {
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docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
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}
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steps {
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sh 'make distclean'
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sh 'make module_documentation'
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dir('build/px4_sitl_default/docs') {
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archiveArtifacts(artifacts: 'modules/*.md')
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stash includes: 'modules/*.md', name: 'metadata_module_documentation'
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}
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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stage('uORB graphs') {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx:2019-03-08'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'make uorb_graphs'
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dir('Tools/uorb_graph') {
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archiveArtifacts(artifacts: 'graph_px4_sitl.json')
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stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
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}
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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} // parallel
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} // stage: Generate Metadata
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stage('Deploy') {
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parallel {
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stage('Devguide') {
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agent {
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docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
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}
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steps {
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sh('export')
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unstash 'metadata_airframes'
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unstash 'metadata_parameters'
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unstash 'metadata_module_documentation'
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withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
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sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
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sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
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sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
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sh('cp -R modules/*.md Devguide/en/middleware/')
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sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
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sh('cd Devguide; git push origin master || true')
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sh('rm -rf Devguide')
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}
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}
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when {
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anyOf {
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branch 'master'
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branch 'pr-jenkins' // for testing
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}
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}
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options {
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skipDefaultCheckout()
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}
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}
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stage('Userguide') {
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agent {
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docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
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}
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steps {
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sh('export')
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unstash 'metadata_airframes'
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unstash 'metadata_parameters'
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withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
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sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
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sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
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sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
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sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
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sh('cd px4_user_guide; git push origin master || true')
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sh('rm -rf px4_user_guide')
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}
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}
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when {
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anyOf {
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branch 'master'
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branch 'pr-jenkins' // for testing
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}
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}
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options {
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skipDefaultCheckout()
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}
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}
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stage('QGroundControl') {
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agent {
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docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
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}
|
|
steps {
|
|
sh('export')
|
|
unstash 'metadata_airframes'
|
|
unstash 'metadata_parameters'
|
|
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
|
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/mavlink/qgroundcontrol.git')
|
|
sh('cp airframes.xml qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml')
|
|
sh('cp parameters.xml qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml')
|
|
sh('cd qgroundcontrol; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
|
|
sh('cd qgroundcontrol; git push origin master || true')
|
|
sh('rm -rf qgroundcontrol')
|
|
}
|
|
}
|
|
when {
|
|
anyOf {
|
|
branch 'master'
|
|
branch 'pr-jenkins' // for testing
|
|
}
|
|
}
|
|
options {
|
|
skipDefaultCheckout()
|
|
}
|
|
}
|
|
|
|
stage('PX4 ROS msgs') {
|
|
agent {
|
|
docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
|
|
}
|
|
steps {
|
|
sh('export')
|
|
sh('make distclean')
|
|
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
|
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
|
|
// 'master' branch
|
|
sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
|
|
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
|
sh('cd px4_msgs; git push origin master || true')
|
|
// 'ros1' branch
|
|
sh('cd px4_msgs; git checkout ros1')
|
|
sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
|
|
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
|
|
sh('cd px4_msgs; git push origin ros1 || true')
|
|
sh('rm -rf px4_msgs')
|
|
}
|
|
}
|
|
when {
|
|
anyOf {
|
|
branch 'master'
|
|
branch 'pr-jenkins' // for testing
|
|
}
|
|
}
|
|
}
|
|
|
|
stage('PX4 ROS2 bridge') {
|
|
agent {
|
|
docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
|
|
}
|
|
steps {
|
|
sh('export')
|
|
sh('make distclean')
|
|
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
|
|
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
|
|
// deploy uORB RTPS ID map
|
|
sh('python msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
|
|
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
|
|
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
|
// deploy uORB RTPS required tools
|
|
sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
|
|
sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
|
|
sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
|
|
sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
|
|
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
|
|
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
|
|
sh('rm -rf px4_msgs')
|
|
}
|
|
}
|
|
when {
|
|
anyOf {
|
|
branch 'master'
|
|
branch 'pr-jenkins' // for testing
|
|
}
|
|
}
|
|
}
|
|
|
|
stage('S3') {
|
|
agent {
|
|
docker { image 'px4io/px4-dev-base-bionic:2019-03-08' }
|
|
}
|
|
steps {
|
|
sh('export')
|
|
unstash 'metadata_airframes'
|
|
unstash 'metadata_parameters'
|
|
sh('ls')
|
|
withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
|
|
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
|
|
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
|
|
}
|
|
}
|
|
when {
|
|
anyOf {
|
|
branch 'master'
|
|
branch 'pr-jenkins' // for testing
|
|
}
|
|
}
|
|
options {
|
|
skipDefaultCheckout()
|
|
}
|
|
}
|
|
|
|
} // parallel
|
|
} // stage: Generate Metadata
|
|
|
|
} // stages
|
|
|
|
environment {
|
|
CCACHE_DIR = '/tmp/ccache'
|
|
CI = true
|
|
GIT_AUTHOR_EMAIL = "bot@px4.io"
|
|
GIT_AUTHOR_NAME = "PX4BuildBot"
|
|
GIT_COMMITTER_EMAIL = "bot@px4.io"
|
|
GIT_COMMITTER_NAME = "PX4BuildBot"
|
|
}
|
|
options {
|
|
buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
|
|
timeout(time: 60, unit: 'MINUTES')
|
|
}
|
|
}
|