forked from Archive/PX4-Autopilot
815 lines
29 KiB
Groovy
815 lines
29 KiB
Groovy
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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def builds = [:]
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def docker_base = "px4io/px4-dev-base:2018-07-19"
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def docker_nuttx = "px4io/px4-dev-nuttx:2018-07-19"
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def docker_ros = "px4io/px4-dev-ros:2018-07-19"
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def docker_rpi = "px4io/px4-dev-raspi:2018-07-19"
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def docker_armhf = "px4io/px4-dev-armhf:2018-07-19"
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def docker_arch = "px4io/px4-dev-base-archlinux:2018-07-19"
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def docker_snapdragon = "lorenzmeier/px4-dev-snapdragon:2017-12-29"
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def docker_clang = "px4io/px4-dev-clang:2018-07-19"
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// fmu-v2_{default, lpe} and fmu-v3_{default, rtps}
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// bloaty compare to last successful master build
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builds["px4fmu-v2"] = {
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node {
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stage("Build Test px4fmu-v2") {
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docker.image(docker_nuttx).inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
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stage("px4fmu-v2") {
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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 "git fetch --tags"
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sh "make nuttx_px4io-v2_default"
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sh "make nuttx_px4io-v2_default bloaty_symbols"
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sh "make nuttx_px4io-v2_default bloaty_compileunits"
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sh "make nuttx_px4io-v2_default bloaty_compare_master"
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sh "make nuttx_px4fmu-v2_default"
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sh "make nuttx_px4fmu-v2_default bloaty_symbols"
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sh "make nuttx_px4fmu-v2_default bloaty_compileunits"
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sh "make nuttx_px4fmu-v2_default bloaty_inlines"
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sh "make nuttx_px4fmu-v2_default bloaty_templates"
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sh "make nuttx_px4fmu-v2_default bloaty_compare_master"
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sh "make nuttx_px4fmu-v2_lpe"
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sh "make nuttx_px4fmu-v2_test"
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sh "make nuttx_px4fmu-v3_default"
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sh "make nuttx_px4fmu-v3_rtps"
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sh "make sizes"
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sh "ccache -s"
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archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/**/*.px4, build/**/*.elf', fingerprint: true, onlyIfSuccessful: true)
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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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// nuttx default targets that are archived and uploaded to s3
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for (def option in ["px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerofc-v1", "aerocore2", "av-x-v1", "auav-x21", "crazyflie", "mindpx-v2", "nxphlite-v3", "tap-v1", "omnibus-f4sd"]) {
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def node_name = "${option}"
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builds[node_name] = createBuildNodeArchive(docker_nuttx, "${node_name}_default")
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}
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// other nuttx default targets
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for (def option in ["px4-same70xplained-v1", "px4-stm32f4discovery", "px4cannode-v1", "px4esc-v1", "px4nucleoF767ZI-v1", "s2740vc-v1"]) {
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def node_name = "${option}"
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builds[node_name] = createBuildNode(docker_nuttx, "${node_name}_default")
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}
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builds["sitl_rtps"] = createBuildNode(docker_base, 'posix_sitl_rtps')
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builds["sitl (GCC 7)"] = createBuildNode(docker_arch, 'posix_sitl_default')
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builds["rpi"] = createBuildNode(docker_rpi, 'posix_rpi_cross')
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builds["bebop"] = createBuildNode(docker_rpi, 'posix_bebop_default')
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builds["ocpoc"] = createBuildNode(docker_armhf, 'posix_ocpoc_ubuntu')
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// snapdragon (eagle_default)
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builds["eagle (linux)"] = createBuildNodeDockerLogin(docker_snapdragon, 'docker_hub_dagar', 'posix_eagle_default')
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builds["eagle (qurt)"] = createBuildNodeDockerLogin(docker_snapdragon, 'docker_hub_dagar', 'qurt_eagle_default')
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// posix_sitl_default with package
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builds["sitl"] = {
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node {
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stage("Build Test sitl") {
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docker.image(docker_ros).inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE') {
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stage("sitl") {
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checkout scm
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sh "export"
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sh "make distclean"
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sh "ccache -z"
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sh "make posix_sitl_default"
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sh "make posix_sitl_default sitl_gazebo"
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sh "make posix_sitl_default package"
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sh "ccache -s"
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stash name: "px4_sitl_package", includes: "build/posix_sitl_default/*.bz2"
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sh "make distclean"
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}
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}
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}
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}
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}
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// MAC OS posix_sitl_default
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builds["sitl (OSX)"] = {
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node("mac") {
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withEnv(["CCACHE_BASEDIR=${pwd()}"]) {
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stage("sitl (OSX)") {
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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 distclean"
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}
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}
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}
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}
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// MAC OS nuttx_px4fmu-v4pro_default
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builds["px4fmu-v4pro (OSX)"] = {
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node("mac") {
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withEnv(["CCACHE_BASEDIR=${pwd()}"]) {
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stage("px4fmu-v4pro (OSX)") {
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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 nuttx_px4fmu-v4pro_default"
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sh "ccache -s"
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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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parallel builds
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} // script
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} // steps
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} // stage Builds
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stage('Test') {
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parallel {
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stage('Style Check') {
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agent {
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docker { image 'px4io/px4-dev-base:2018-07-19' }
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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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}
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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:2018-07-19'
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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 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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sh 'make distclean'
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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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}
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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:2018-03-30'
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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 clang-tidy-quiet'
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sh 'make distclean'
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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:ubuntu17.10'
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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 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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sh 'make distclean'
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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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}
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}
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}
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stage('tests') {
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agent {
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docker {
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image 'px4io/px4-dev-base:2018-07-19'
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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 posix_sitl_default test_results_junit'
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junit 'build/posix_sitl_default/JUnitTestResults.xml'
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sh 'make distclean'
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}
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}
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stage('test mission (code coverage)') {
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agent {
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docker {
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image 'px4io/px4-dev-ros:2018-07-19'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
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sh 'make tests_mission_coverage'
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
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sh 'curl -s https://codecov.io/bash | bash -s'
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}
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sh 'make distclean'
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}
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}
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// TODO: PX4 requires clean shutdown first
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// stage('tests (address sanitizer)') {
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// agent {
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// docker {
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// image 'px4io/px4-dev-base:2018-07-19'
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// args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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// }
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// }
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// environment {
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// PX4_ASAN = 1
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// ASAN_OPTIONS = "color=always:check_initialization_order=1:detect_stack_use_after_return=1"
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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 tests'
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// sh 'make distclean'
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// }
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// }
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// TODO: test and re-enable once GDB is available in px4-dev-ros
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// stage('tests (code coverage)') {
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// agent {
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// docker {
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// image 'px4io/px4-dev-ros:2018-07-19'
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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 'ulimit -c unlimited; make tests_coverage'
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// sh 'ls'
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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'
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// }
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// sh 'make distclean'
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// }
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// post {
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// failure {
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// sh('find . -name core')
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// sh('gdb --batch --quiet -ex "thread apply all bt full" -ex "quit" build/posix_sitl_default/px4 core')
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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:2018-07-19'
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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 px4fmu-v2_default stack_check'
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sh 'make distclean'
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}
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}
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stage('ROS vtol standard mission') {
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agent {
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docker {
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image 'px4io/px4-dev-ros:2018-07-19'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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}
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}
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options {
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skipDefaultCheckout()
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}
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steps {
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sh 'export'
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sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
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unstash 'px4_sitl_package'
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sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
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sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol'
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sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
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}
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post {
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always {
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sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
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archiveArtifacts '.ros/**/*.pdf'
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archiveArtifacts '.ros/**/*.csv'
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deleteDir()
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}
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failure {
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sh 'ls -a'
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archiveArtifacts '.ros/**/*.ulg'
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archiveArtifacts '.ros/**/rosunit-*.xml'
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archiveArtifacts '.ros/**/rostest-*.log'
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}
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}
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}
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stage('ROS vtol tailsitter mission') {
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agent {
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docker {
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image 'px4io/px4-dev-ros:2018-07-19'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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}
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}
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options {
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skipDefaultCheckout()
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}
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steps {
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sh 'export'
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sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
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unstash 'px4_sitl_package'
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sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
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sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tailsitter'
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sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
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}
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post {
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always {
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sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
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archiveArtifacts '.ros/**/*.pdf'
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archiveArtifacts '.ros/**/*.csv'
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deleteDir()
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}
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failure {
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sh 'ls -a'
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archiveArtifacts '.ros/**/*.ulg'
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archiveArtifacts '.ros/**/rosunit-*.xml'
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archiveArtifacts '.ros/**/rostest-*.log'
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}
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}
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}
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stage('ROS vtol tiltrotor mission') {
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agent {
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docker {
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image 'px4io/px4-dev-ros:2018-07-19'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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}
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}
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options {
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skipDefaultCheckout()
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}
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steps {
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sh 'export'
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sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
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unstash 'px4_sitl_package'
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sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
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sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tiltrotor'
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sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
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}
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post {
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always {
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sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
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archiveArtifacts '.ros/**/*.pdf'
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archiveArtifacts '.ros/**/*.csv'
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deleteDir()
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}
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failure {
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sh 'ls -a'
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archiveArtifacts '.ros/**/*.ulg'
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|
archiveArtifacts '.ros/**/rosunit-*.xml'
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archiveArtifacts '.ros/**/rostest-*.log'
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}
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}
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}
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stage('ROS vtol mission new 2') {
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agent {
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docker {
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|
image 'px4io/px4-dev-ros:2018-07-19'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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}
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}
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options {
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skipDefaultCheckout()
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}
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steps {
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sh 'export'
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sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
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unstash 'px4_sitl_package'
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|
sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
|
|
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2 vehicle:=standard_vtol'
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sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
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|
}
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|
post {
|
|
always {
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sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
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|
archiveArtifacts '.ros/**/*.pdf'
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|
archiveArtifacts '.ros/**/*.csv'
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|
deleteDir()
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|
}
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|
failure {
|
|
sh 'ls -a'
|
|
archiveArtifacts '.ros/**/*.ulg'
|
|
archiveArtifacts '.ros/**/rosunit-*.xml'
|
|
archiveArtifacts '.ros/**/rostest-*.log'
|
|
}
|
|
}
|
|
}
|
|
|
|
stage('ROS vtol mission old 1') {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-ros:2018-07-19'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
|
}
|
|
}
|
|
options {
|
|
skipDefaultCheckout()
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
|
|
unstash 'px4_sitl_package'
|
|
sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
|
|
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_1 vehicle:=standard_vtol'
|
|
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
|
|
}
|
|
post {
|
|
always {
|
|
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
|
archiveArtifacts '.ros/**/*.pdf'
|
|
archiveArtifacts '.ros/**/*.csv'
|
|
deleteDir()
|
|
}
|
|
failure {
|
|
sh 'ls -a'
|
|
archiveArtifacts '.ros/**/*.ulg'
|
|
archiveArtifacts '.ros/**/rosunit-*.xml'
|
|
archiveArtifacts '.ros/**/rostest-*.log'
|
|
}
|
|
}
|
|
}
|
|
|
|
stage('ROS vtol mission old 2') {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-ros:2018-07-19'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
|
}
|
|
}
|
|
options {
|
|
skipDefaultCheckout()
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
|
|
unstash 'px4_sitl_package'
|
|
sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
|
|
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_old_2 vehicle:=standard_vtol'
|
|
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
|
|
}
|
|
post {
|
|
always {
|
|
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
|
archiveArtifacts '.ros/**/*.pdf'
|
|
archiveArtifacts '.ros/**/*.csv'
|
|
deleteDir()
|
|
}
|
|
failure {
|
|
sh 'ls -a'
|
|
archiveArtifacts '.ros/**/*.ulg'
|
|
archiveArtifacts '.ros/**/rosunit-*.xml'
|
|
archiveArtifacts '.ros/**/rostest-*.log'
|
|
}
|
|
}
|
|
}
|
|
|
|
stage('ROS MC mission box (EKF2)') {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-ros:2018-07-19'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
|
}
|
|
}
|
|
options {
|
|
skipDefaultCheckout()
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
|
|
unstash 'px4_sitl_package'
|
|
sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
|
|
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box vehicle:=iris'
|
|
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
|
|
}
|
|
post {
|
|
always {
|
|
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
|
archiveArtifacts '.ros/**/*.pdf'
|
|
archiveArtifacts '.ros/**/*.csv'
|
|
deleteDir()
|
|
}
|
|
failure {
|
|
sh 'ls -a'
|
|
archiveArtifacts '.ros/**/*.ulg'
|
|
archiveArtifacts '.ros/**/rosunit-*.xml'
|
|
archiveArtifacts '.ros/**/rostest-*.log'
|
|
}
|
|
}
|
|
}
|
|
|
|
stage('ROS MC mission box (LPE)') {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-ros:2018-07-19'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
|
}
|
|
}
|
|
options {
|
|
skipDefaultCheckout()
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
|
|
unstash 'px4_sitl_package'
|
|
sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
|
|
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=multirotor_box vehicle:=iris est:=lpe'
|
|
}
|
|
post {
|
|
always {
|
|
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
|
deleteDir()
|
|
}
|
|
failure {
|
|
sh 'ls -a'
|
|
archiveArtifacts '.ros/**/*.ulg'
|
|
archiveArtifacts '.ros/**/rosunit-*.xml'
|
|
archiveArtifacts '.ros/**/rostest-*.log'
|
|
}
|
|
}
|
|
}
|
|
|
|
stage('ROS offboard att') {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-ros:2018-07-19'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
|
}
|
|
}
|
|
options {
|
|
skipDefaultCheckout()
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
|
|
unstash 'px4_sitl_package'
|
|
sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
|
|
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test'
|
|
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
|
|
}
|
|
post {
|
|
always {
|
|
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
|
archiveArtifacts '.ros/**/*.pdf'
|
|
archiveArtifacts '.ros/**/*.csv'
|
|
deleteDir()
|
|
}
|
|
failure {
|
|
sh 'ls -a'
|
|
archiveArtifacts '.ros/**/*.ulg'
|
|
archiveArtifacts '.ros/**/rosunit-*.xml'
|
|
archiveArtifacts '.ros/**/rostest-*.log'
|
|
}
|
|
}
|
|
}
|
|
|
|
stage('ROS offboard pos') {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-ros:2018-07-19'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
|
|
}
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
|
|
unstash 'px4_sitl_package'
|
|
sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
|
|
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test'
|
|
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
|
|
}
|
|
post {
|
|
always {
|
|
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
|
|
archiveArtifacts '.ros/**/*.pdf'
|
|
archiveArtifacts '.ros/**/*.csv'
|
|
deleteDir()
|
|
}
|
|
failure {
|
|
sh 'ls -a'
|
|
archiveArtifacts '.ros/**/*.ulg'
|
|
archiveArtifacts '.ros/**/rosunit-*.xml'
|
|
archiveArtifacts '.ros/**/rostest-*.log'
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
stage('Generate Metadata') {
|
|
|
|
parallel {
|
|
|
|
stage('airframe') {
|
|
agent {
|
|
docker { image 'px4io/px4-dev-base:2018-07-19' }
|
|
}
|
|
steps {
|
|
sh 'make distclean'
|
|
sh 'make airframe_metadata'
|
|
archiveArtifacts(artifacts: 'airframes.md, airframes.xml', fingerprint: true)
|
|
sh 'make distclean'
|
|
}
|
|
}
|
|
|
|
stage('parameter') {
|
|
agent {
|
|
docker { image 'px4io/px4-dev-base:2018-07-19' }
|
|
}
|
|
steps {
|
|
sh 'make distclean'
|
|
sh 'make parameters_metadata'
|
|
archiveArtifacts(artifacts: 'parameters.md, parameters.xml', fingerprint: true)
|
|
sh 'make distclean'
|
|
}
|
|
}
|
|
|
|
stage('module') {
|
|
agent {
|
|
docker { image 'px4io/px4-dev-base:2018-07-19' }
|
|
}
|
|
steps {
|
|
sh 'make distclean'
|
|
sh 'make module_documentation'
|
|
archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
|
|
sh 'make distclean'
|
|
}
|
|
}
|
|
|
|
stage('uorb graphs') {
|
|
agent {
|
|
docker {
|
|
image 'px4io/px4-dev-nuttx:2018-07-19'
|
|
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
|
|
}
|
|
}
|
|
steps {
|
|
sh 'export'
|
|
sh 'make distclean'
|
|
sh 'make uorb_graphs'
|
|
archiveArtifacts(artifacts: 'Tools/uorb_graph/graph_sitl.json')
|
|
sh 'make distclean'
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// TODO: actually upload artifacts to S3
|
|
stage('S3 Upload') {
|
|
agent {
|
|
docker { image 'px4io/px4-dev-base:2018-07-19' }
|
|
}
|
|
options {
|
|
skipDefaultCheckout()
|
|
}
|
|
when {
|
|
anyOf {
|
|
branch 'master'
|
|
branch 'beta'
|
|
branch 'stable'
|
|
}
|
|
}
|
|
steps {
|
|
sh 'echo "uploading to S3"'
|
|
}
|
|
}
|
|
} // stages
|
|
|
|
environment {
|
|
CCACHE_DIR = '/tmp/ccache'
|
|
CI = true
|
|
}
|
|
options {
|
|
buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
|
|
timeout(time: 60, unit: 'MINUTES')
|
|
}
|
|
}
|
|
|
|
def createBuildNode(String docker_repo, String target) {
|
|
return {
|
|
node {
|
|
docker.image(docker_repo).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
|
|
stage(target) {
|
|
sh('export')
|
|
checkout scm
|
|
sh('make distclean')
|
|
sh('git fetch --tags')
|
|
sh('ccache -z')
|
|
sh('make ' + target)
|
|
sh('ccache -s')
|
|
sh('make sizes')
|
|
sh('make distclean')
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
def createBuildNodeArchive(String docker_repo, String target) {
|
|
return {
|
|
node {
|
|
docker.image(docker_repo).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
|
|
stage(target) {
|
|
sh('export')
|
|
checkout scm
|
|
sh('make distclean')
|
|
sh('git fetch --tags')
|
|
sh('ccache -z')
|
|
sh('make ' + target)
|
|
sh('ccache -s')
|
|
sh('make sizes')
|
|
archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/**/*.px4, build/**/*.elf, build/**/*.bin', fingerprint: true, onlyIfSuccessful: true)
|
|
sh('make distclean')
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
def createBuildNodeDockerLogin(String docker_repo, String docker_credentials, String target) {
|
|
return {
|
|
node {
|
|
docker.withRegistry('https://registry.hub.docker.com', docker_credentials) {
|
|
docker.image(docker_repo).inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
|
|
stage(target) {
|
|
sh('export')
|
|
checkout scm
|
|
sh('make distclean')
|
|
sh('git fetch --tags')
|
|
sh('ccache -z')
|
|
sh('make ' + target)
|
|
sh('ccache -s')
|
|
sh('make sizes')
|
|
sh('make distclean')
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|