forked from Archive/PX4-Autopilot
282 lines
8.6 KiB
Groovy
282 lines
8.6 KiB
Groovy
#!/usr/bin/env groovy
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pipeline {
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agent none
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parameters {
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choice(
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name: 'PX4_CMAKE_BUILD_TYPE',
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choices: ['RelWithDebInfo', 'Coverage', 'AddressSanitizer', 'UndefinedBehaviorSanitizer'],
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description: "CMake build type"
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)
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}
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stages {
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stage('Build') {
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agent {
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docker {
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image 'px4io/px4-dev-ros-kinetic:2018-09-11'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE --cap-add SYS_PTRACE --entrypoint=""'
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}
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}
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stages {
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stage('build px4') {
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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_sitl_default')
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sh "ccache -s"
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}
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}
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stage('stash build for coverage') {
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steps {
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stash includes: 'build/**/*', name: 'build_sitl_coverage', useDefaultExcludes: false
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}
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when {
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environment name: 'PX4_CMAKE_BUILD_TYPE', value: 'Coverage'
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}
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}
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stage('unit tests') {
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steps {
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sh 'export'
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sh 'make px4_sitl_test test_results_junit'
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junit 'build/px4_sitl_test/JUnitTestResults.xml'
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}
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}
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stage('build sitl_gazebo') {
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steps {
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sh 'export'
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sh "ccache -z"
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sh('make px4_sitl_default sitl_gazebo')
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sh "ccache -s"
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}
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}
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stage('package') {
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steps {
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sh 'export'
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sh('make px4_sitl_default package')
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stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
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archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
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}
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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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} // stage Build
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stage('ROS Tests') {
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steps {
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script {
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def missions = [
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[
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name: "FW",
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test: "mavros_posix_test_mission.test",
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mission: "FW_mission_1",
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vehicle: "plane"
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],
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[
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name: "MC_box",
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test: "mavros_posix_test_mission.test",
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mission: "MC_mission_box",
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vehicle: "iris"
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],
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[
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name: "MC_offboard_att",
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test: "mavros_posix_tests_offboard_attctl.test",
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mission: "",
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vehicle: "iris"
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],
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[
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name: "MC_offboard_pos",
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test: "mavros_posix_tests_offboard_posctl.test",
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mission: "",
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vehicle: "iris"
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],
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[
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name: "VTOL_standard",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "standard_vtol"
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],
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[
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name: "VTOL_tailsitter",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "tailsitter"
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],
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[
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name: "VTOL_tiltrotor",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "tiltrotor"
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],
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]
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def test_nodes = [:]
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for (def i = 0; i < missions.size(); i++) {
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test_nodes.put(missions[i].name, createTestNode(missions[i]))
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}
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parallel test_nodes
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} // script
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} // steps
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} // stage ROS Tests
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stage('Coverage') {
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parallel {
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stage('code coverage (python)') {
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agent {
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docker {
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image 'px4io/px4-dev-base:2019-01-26'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw --cap-add SYS_PTRACE'
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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 python_coverage'
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
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sh 'curl -s https://codecov.io/bash | bash -s - -F python'
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}
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sh 'make distclean'
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}
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when {
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environment name: 'PX4_CMAKE_BUILD_TYPE', value: 'Coverage'
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}
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}
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stage('unit tests') {
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agent {
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docker {
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image 'px4io/px4-dev-base:2019-01-26'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw --cap-add SYS_PTRACE'
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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 px4_sitl_test test_results_junit'
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
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sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
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}
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sh 'make distclean'
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}
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when {
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environment name: 'PX4_CMAKE_BUILD_TYPE', value: 'Coverage'
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}
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}
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} // parallel
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} // stage Coverage
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} //stages
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environment {
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ASAN_OPTIONS = 'detect_stack_use_after_return=1:check_initialization_order=1'
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UBSAN_OPTIONS = 'print_stacktrace=1'
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CCACHE_DIR = '/tmp/ccache'
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CI = true
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CTEST_OUTPUT_ON_FAILURE = 1
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}
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options {
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buildDiscarder(logRotator(numToKeepStr: '2', artifactDaysToKeepStr: '14'))
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timeout(time: 60, unit: 'MINUTES')
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}
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} // pipeline
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def createTestNode(Map test_def) {
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return {
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node {
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cleanWs()
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docker.image("px4io/px4-dev-ros-kinetic:2018-09-11").inside('-e HOME=${WORKSPACE} --cap-add SYS_PTRACE --entrypoint=""') {
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stage(test_def.name) {
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def test_ok = true
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sh('export')
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if (env.PX4_CMAKE_BUILD_TYPE == 'Coverage') {
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checkout(scm)
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unstash 'build_sitl_coverage'
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}
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unstash('px4_sitl_package')
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sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
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// run test
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try {
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sh('px4-px4_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
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} catch (exc) {
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// save all test artifacts for debugging
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
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test_ok = false
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}
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// log analysis
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if (env.PX4_CMAKE_BUILD_TYPE == 'Coverage') {
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
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sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}'
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// process log data (with python code coverage)
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try {
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sh('coverage run -p px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
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} catch (exc) {
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// save log analysis artifacts for debugging
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
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// FIXME: don't let the script to fail the build
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// test_ok = false
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}
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// upload log to flight review (https://logs.px4.io/) with python code coverage
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sh('coverage run -p px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
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// upload python code coverage to codecov.io
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sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
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}
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} else { // non code coverage
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// process ekf log data
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try {
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sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
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} catch (exc) {
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// save log analysis artifacts for debugging
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
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// FIXME: don't let the script to fail the build
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// test_ok = false
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}
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// upload log to flight review (https://logs.px4.io/)
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sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
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}
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if (!test_ok) {
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error('ROS Test failed')
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}
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} // stage
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cleanWs()
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} // docker.image
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} // node
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} // return
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} // createTestNode
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