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Merge pull request #1 from PX4/master
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‎.ci/Jenkinsfile-SITL_tests

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#!/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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agent {
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docker {
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image 'px4io/px4-dev-ros-kinetic: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 '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 'make px4_sitl_default sitl_gazebo'
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sh 'make px4_sitl_default package'
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sh 'ccache -s'
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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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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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name: "MC_avoidance",
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test: "mavros_posix_test_avoidance.test",
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mission: "avoidance",
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vehicle: "iris_obs_avoid",
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run_script: "rostest_avoidance_run.sh"
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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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} //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-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
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stage(test_def.name) {
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def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
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def test_ok = true
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sh('export')
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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/' + run_script + ' ' + 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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// 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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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

‎.ci/Jenkinsfile-SITL_tests_ASan

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#!/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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agent {
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docker {
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image 'px4io/px4-dev-ros-kinetic: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 '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 'make px4_sitl_default sitl_gazebo'
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sh 'make px4_sitl_default package'
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sh 'ccache -s'
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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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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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} //stages
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environment {
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CCACHE_DIR = '/tmp/ccache'
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CI = true
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PX4_CMAKE_BUILD_TYPE = 'AddressSanitizer'
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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-kinetic:2019-03-08").inside('-e HOME=${WORKSPACE}') {
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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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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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// 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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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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