forked from Archive/PX4-Autopilot
129 lines
4.0 KiB
Groovy
129 lines
4.0 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('Build') {
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steps {
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script {
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stage('sitl package') {
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node {
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docker.image("px4io/px4-dev-ros:2018-07-19").inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE') {
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stage("sitl package") {
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try {
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checkout(scm)
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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('make posix_sitl_default')
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sh "ccache -s"
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sh('make posix_sitl_default sitl_gazebo')
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sh "ccache -s"
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sh('make posix_sitl_default package')
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stash(name: "px4_sitl_package", includes: "build/posix_sitl_default/*.bz2")
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}
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catch (exc) {
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throw (exc)
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}
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finally {
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sh('make distclean')
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}
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}
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}
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}
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}
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} // script
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} // steps
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} // 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: "VTOL standard",
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test: "mavros_posix_test_mission.test",
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mission: "vtol_new_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_new_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_new_1",
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vehicle: "tiltrotor"
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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: "multirotor_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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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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} // ROS Tests
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} //stages
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environment {
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CCACHE_DIR = '/tmp/ccache'
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CI = true
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}
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options {
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buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
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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:2018-03-30").inside('-e HOME=${WORKSPACE}') {
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stage(test_def.name) {
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try {
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sh('export')
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unstash('px4_sitl_package')
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sh('tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2')
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sh('px4-posix_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
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sh('px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/rootfs/fs/microsd/log/*/*.ulg')
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}
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catch (exc) {
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
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throw (exc)
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}
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finally {
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sh('px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg')
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
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}
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}
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}
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cleanWs()
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}
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}
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} |