From 40252075f3ef8f11b225f8fb9a4c7ce1b392e8f5 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 5 Feb 2019 15:42:34 -0500
Subject: [PATCH] Jenkins add SITL tests coverage pipeline
---
.ci/Jenkinsfile-SITL_tests | 173 +++--------------------
.ci/Jenkinsfile-SITL_tests_coverage | 208 ++++++++++++++++++++++++++++
Jenkinsfile | 22 +++
3 files changed, 252 insertions(+), 151 deletions(-)
create mode 100644 .ci/Jenkinsfile-SITL_tests_coverage
diff --git a/.ci/Jenkinsfile-SITL_tests b/.ci/Jenkinsfile-SITL_tests
index ed52225c57..352e1b4c9d 100644
--- a/.ci/Jenkinsfile-SITL_tests
+++ b/.ci/Jenkinsfile-SITL_tests
@@ -3,81 +3,32 @@
pipeline {
agent none
- parameters {
- choice(
- name: 'PX4_CMAKE_BUILD_TYPE',
- choices: ['RelWithDebInfo', 'Coverage', 'AddressSanitizer', 'UndefinedBehaviorSanitizer'],
- description: "CMake build type"
- )
- }
-
stages {
stage('Build') {
-
agent {
docker {
image 'px4io/px4-dev-ros-kinetic:2018-09-11'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE --cap-add SYS_PTRACE --entrypoint=""'
}
}
-
- stages {
-
- stage('build px4') {
- steps {
- sh('export')
- sh('make distclean')
- sh "ccache -z"
- sh "git fetch --tags"
- sh('make px4_sitl_default')
- sh "ccache -s"
- }
- }
-
- stage('stash build for coverage') {
- steps {
- stash includes: 'build/**/*', name: 'build_sitl_coverage', useDefaultExcludes: false
- }
- when {
- environment name: 'PX4_CMAKE_BUILD_TYPE', value: 'Coverage'
- }
- }
-
- stage('unit tests') {
- steps {
- sh 'export'
- sh 'make px4_sitl_test test_results_junit'
- junit 'build/px4_sitl_test/JUnitTestResults.xml'
- }
- }
-
- stage('build sitl_gazebo') {
- steps {
- sh 'export'
- sh "ccache -z"
- sh('make px4_sitl_default sitl_gazebo')
- sh "ccache -s"
- }
- }
-
- stage('package') {
- steps {
- sh 'export'
- sh('make px4_sitl_default package')
- stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
- archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
- }
- }
-
+ steps {
+ sh 'export'
+ sh 'make distclean'
+ sh 'ccache -z'
+ sh 'git fetch --tags'
+ sh 'make px4_sitl_default'
+ sh 'make px4_sitl_default sitl_gazebo'
+ sh 'make px4_sitl_default package'
+ sh 'ccache -s'
+ stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
+ archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
}
-
post {
always {
sh 'make distclean'
}
}
-
} // stage Build
stage('ROS Tests') {
@@ -141,64 +92,11 @@ pipeline {
} // steps
} // stage ROS Tests
- stage('Coverage') {
- parallel {
-
- stage('code coverage (python)') {
- agent {
- docker {
- image 'px4io/px4-dev-base:2019-01-26'
- args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw --cap-add SYS_PTRACE'
- }
- }
- steps {
- sh 'export'
- sh 'make distclean'
- sh 'make python_coverage'
- withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
- sh 'curl -s https://codecov.io/bash | bash -s - -F python'
- }
-
- sh 'make distclean'
- }
-
- when {
- environment name: 'PX4_CMAKE_BUILD_TYPE', value: 'Coverage'
- }
- }
-
- stage('unit tests') {
- agent {
- docker {
- image 'px4io/px4-dev-base:2019-01-26'
- args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw --cap-add SYS_PTRACE'
- }
- }
- steps {
- sh 'export'
- sh 'make distclean'
- sh 'make px4_sitl_test test_results_junit'
- withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
- sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
- }
- sh 'make distclean'
- }
- when {
- environment name: 'PX4_CMAKE_BUILD_TYPE', value: 'Coverage'
- }
- }
-
- } // parallel
- } // stage Coverage
-
} //stages
environment {
- ASAN_OPTIONS = 'detect_stack_use_after_return=1:check_initialization_order=1'
- UBSAN_OPTIONS = 'print_stacktrace=1'
CCACHE_DIR = '/tmp/ccache'
CI = true
- CTEST_OUTPUT_ON_FAILURE = 1
}
options {
@@ -216,11 +114,6 @@ def createTestNode(Map test_def) {
def test_ok = true
sh('export')
- if (env.PX4_CMAKE_BUILD_TYPE == 'Coverage') {
- checkout(scm)
- unstash 'build_sitl_coverage'
- }
-
unstash('px4_sitl_package')
sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
@@ -235,41 +128,19 @@ def createTestNode(Map test_def) {
}
// log analysis
- if (env.PX4_CMAKE_BUILD_TYPE == 'Coverage') {
- withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
- sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}'
-
- // process log data (with python code coverage)
- try {
- sh('coverage run -p px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
- } catch (exc) {
- // save log analysis artifacts for debugging
- archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
- // FIXME: don't let the script to fail the build
- // test_ok = false
- }
-
- // upload log to flight review (https://logs.px4.io/) with python code coverage
- sh('coverage run -p px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
-
- // upload python code coverage to codecov.io
- sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
- }
- } else { // non code coverage
- // process ekf log data
- try {
- sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
- } catch (exc) {
- // save log analysis artifacts for debugging
- archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
- // FIXME: don't let the script to fail the build
- // test_ok = false
- }
-
- // upload log to flight review (https://logs.px4.io/)
- sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+ // process ekf log data
+ try {
+ sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+ } catch (exc) {
+ // save log analysis artifacts for debugging
+ archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
+ // FIXME: don't let the script to fail the build
+ // test_ok = false
}
+ // upload log to flight review (https://logs.px4.io/)
+ sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+
if (!test_ok) {
error('ROS Test failed')
}
diff --git a/.ci/Jenkinsfile-SITL_tests_coverage b/.ci/Jenkinsfile-SITL_tests_coverage
new file mode 100644
index 0000000000..3eb7fe09a7
--- /dev/null
+++ b/.ci/Jenkinsfile-SITL_tests_coverage
@@ -0,0 +1,208 @@
+#!/usr/bin/env groovy
+
+pipeline {
+ agent none
+
+ stages {
+
+ stage('Build') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-ros-kinetic:2018-09-11'
+ args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE --cap-add SYS_PTRACE --entrypoint=""'
+ }
+ }
+ steps {
+ sh 'export'
+ sh 'make distclean'
+ sh 'ccache -z'
+ sh 'git fetch --tags'
+ sh 'make px4_sitl_default'
+ stash includes: 'build/**/*', name: 'build_sitl_coverage', useDefaultExcludes: false
+ sh 'make px4_sitl_default sitl_gazebo'
+ sh 'make px4_sitl_default package'
+ sh 'ccache -s'
+ stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
+ archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
+ }
+ post {
+ always {
+ sh 'make distclean'
+ }
+ }
+ } // stage Build
+
+ stage('ROS Tests') {
+ steps {
+ script {
+ def missions = [
+ [
+ name: "FW",
+ test: "mavros_posix_test_mission.test",
+ mission: "FW_mission_1",
+ vehicle: "plane"
+ ],
+
+ [
+ name: "MC_box",
+ test: "mavros_posix_test_mission.test",
+ mission: "MC_mission_box",
+ vehicle: "iris"
+ ],
+ [
+ name: "MC_offboard_att",
+ test: "mavros_posix_tests_offboard_attctl.test",
+ mission: "",
+ vehicle: "iris"
+ ],
+ [
+ name: "MC_offboard_pos",
+ test: "mavros_posix_tests_offboard_posctl.test",
+ mission: "",
+ vehicle: "iris"
+ ],
+
+ [
+ name: "VTOL_standard",
+ test: "mavros_posix_test_mission.test",
+ mission: "VTOL_mission_1",
+ vehicle: "standard_vtol"
+ ],
+ [
+ name: "VTOL_tailsitter",
+ test: "mavros_posix_test_mission.test",
+ mission: "VTOL_mission_1",
+ vehicle: "tailsitter"
+ ],
+ [
+ name: "VTOL_tiltrotor",
+ test: "mavros_posix_test_mission.test",
+ mission: "VTOL_mission_1",
+ vehicle: "tiltrotor"
+ ],
+
+ ]
+
+ def test_nodes = [:]
+ for (def i = 0; i < missions.size(); i++) {
+ test_nodes.put(missions[i].name, createTestNode(missions[i]))
+ }
+
+ parallel test_nodes
+ } // script
+ } // steps
+ } // stage ROS Tests
+
+ stage('Coverage') {
+ parallel {
+
+ stage('code coverage (python)') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-base:2019-01-26'
+ args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw --cap-add SYS_PTRACE'
+ }
+ }
+ steps {
+ sh 'export'
+ sh 'make distclean'
+ sh 'make python_coverage'
+ withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
+ sh 'curl -s https://codecov.io/bash | bash -s - -F python'
+ }
+
+ sh 'make distclean'
+ }
+ }
+
+ stage('unit tests') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-base:2019-01-26'
+ args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw --cap-add SYS_PTRACE'
+ }
+ }
+ steps {
+ sh 'export'
+ sh 'make distclean'
+ sh 'make px4_sitl_test test_results_junit'
+ withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
+ sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
+ }
+ sh 'make distclean'
+ }
+ }
+
+ } // parallel
+ } // stage Coverage
+
+ } //stages
+
+ environment {
+ CCACHE_DIR = '/tmp/ccache'
+ CI = true
+ CTEST_OUTPUT_ON_FAILURE = 1
+ PX4_CMAKE_BUILD_TYPE = 'Coverage'
+ }
+
+ options {
+ buildDiscarder(logRotator(numToKeepStr: '2', artifactDaysToKeepStr: '14'))
+ timeout(time: 60, unit: 'MINUTES')
+ }
+} // pipeline
+
+def createTestNode(Map test_def) {
+ return {
+ node {
+ cleanWs()
+ docker.image("px4io/px4-dev-ros-kinetic:2018-09-11").inside('-e HOME=${WORKSPACE} --cap-add SYS_PTRACE --entrypoint=""') {
+ stage(test_def.name) {
+ def test_ok = true
+ sh('export')
+
+ checkout(scm)
+ unstash 'build_sitl_coverage'
+
+ unstash('px4_sitl_package')
+ sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
+
+ // run test
+ try {
+ sh('px4-px4_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
+
+ } catch (exc) {
+ // save all test artifacts for debugging
+ archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
+ test_ok = false
+ }
+
+ // log analysis
+ withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
+ sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}'
+
+ // process log data (with python code coverage)
+ try {
+ sh('coverage run -p px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+ } catch (exc) {
+ // save log analysis artifacts for debugging
+ archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
+ // FIXME: don't let the script to fail the build
+ // test_ok = false
+ }
+
+ // upload log to flight review (https://logs.px4.io/) with python code coverage
+ sh('coverage run -p px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+
+ // upload python code coverage to codecov.io
+ sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
+ }
+
+ if (!test_ok) {
+ error('ROS Test failed')
+ }
+ } // stage
+ cleanWs()
+ } // docker.image
+ } // node
+ } // return
+} // createTestNode
diff --git a/Jenkinsfile b/Jenkinsfile
index 1f39bd5254..bf255aaeb8 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -141,6 +141,28 @@ pipeline {
}
}
+ stage('SITL unit tests') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-base:2019-02-03'
+ args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+ }
+ }
+ steps {
+ sh 'export'
+ sh 'make distclean'
+ sh 'ccache -z'
+ sh 'git fetch --tags'
+ sh 'make tests'
+ sh 'ccache -s'
+ }
+ post {
+ always {
+ sh 'make distclean'
+ }
+ }
+ }
+
stage('Clang analyzer') {
agent {
docker {
--
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