diff --git a/.gitignore b/.gitignore
index 4c96cf838b1e5cb526cedc6837b4a1df3b61a23d..de25e81e76734b4c882d005ad7fb9b6af4e47fa0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -63,3 +63,5 @@ posix-configs/SITL/init/test/*_generated
/modules
*.gcov
+.coverage
+.coverage.*
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fecbb749edab46b111e86984ffc6467e1aa619fe..f4c8f4a1963ce677c49b3954b27e9fb79484c24e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -261,7 +261,15 @@ if (CATKIN_DEVEL_PREFIX)
endif()
find_package(PythonInterp REQUIRED)
-px4_find_python_module(jinja2 REQUIRED)
+
+option(PYTHON_COVERAGE "Python code coverage" OFF)
+if(PYTHON_COVERAGE)
+ message(STATUS "python coverage enabled")
+ set(PYTHON_EXECUTABLE coverage run -p)
+else()
+ # run normally (broken under coveragepy)
+ px4_find_python_module(jinja2 REQUIRED)
+endif()
#=============================================================================
# check required toolchain variables
@@ -453,6 +461,51 @@ if (BUILD_DOXYGEN)
endif()
endif()
+#=============================================================================
+# Metadata - helpers for generating documentation
+#
+
+add_custom_target(metadata_airframes
+ COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
+ COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+ -v -a ${PX4_SOURCE_DIR}//ROMFS/px4fmu_common/init.d
+ --markdown ${PX4_BINARY_DIR}/docs/airframes.md
+ COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+ -v -a ${PX4_SOURCE_DIR}//ROMFS/px4fmu_common/init.d
+ --xml ${PX4_BINARY_DIR}/docs/airframes.xml
+ COMMENT "Generating full airframe metadata (markdown and xml)"
+ USES_TERMINAL
+)
+
+add_custom_target(metadata_parameters
+ COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
+ COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+ --src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
+ --inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
+ --markdown ${PX4_BINARY_DIR}/docs/parameters.md
+ COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+ --src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
+ --inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
+ --xml ${PX4_BINARY_DIR}/docs/parameters.xml
+ COMMENT "Generating full parameter metadata (markdown and xml)"
+ USES_TERMINAL
+)
+
+add_custom_target(metadata_module_documentation
+ COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
+ COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
+ --markdown ${PX4_BINARY_DIR}/docs/modules
+ COMMENT "Generating module documentation"
+ USES_TERMINAL
+)
+
+add_custom_target(all_metadata
+ DEPENDS
+ metadata_airframes
+ metadata_parameters
+ metadata_module_documentation
+)
+
#=============================================================================
# packaging
#
diff --git a/Jenkinsfile b/Jenkinsfile
index a25e7690717054ce02e3818711ea4b6b20f64308..5dec906ce56ad9831db6d22d72648d4d39594ae0 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -188,7 +188,7 @@ pipeline {
steps {
sh 'export'
sh 'make distclean'
- sh 'ulimit -c unlimited; make tests_coverage'
+ sh 'ulimit -c unlimited; make tests_coverage || true' // always pass for now
withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
sh 'curl -s https://codecov.io/bash | bash -s - -F unittests'
}
@@ -203,6 +203,24 @@ pipeline {
}
}
+ stage('code coverage (python)') {
+ agent {
+ docker {
+ image 'px4io/px4-dev-base:2018-08-04'
+ args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+ }
+ }
+ 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'
+ }
+ }
+
} // parallel
} // stage Analysis
@@ -262,7 +280,9 @@ pipeline {
steps {
sh 'make distclean'
sh 'make airframe_metadata'
- archiveArtifacts(artifacts: 'airframes.md, airframes.xml', fingerprint: true)
+ dir('build/posix_sitl_default/docs') {
+ archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
+ }
sh 'make distclean'
}
}
@@ -274,7 +294,9 @@ pipeline {
steps {
sh 'make distclean'
sh 'make parameters_metadata'
- archiveArtifacts(artifacts: 'parameters.md, parameters.xml', fingerprint: true)
+ dir('build/posix_sitl_default/docs') {
+ archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
+ }
sh 'make distclean'
}
}
@@ -286,7 +308,9 @@ pipeline {
steps {
sh 'make distclean'
sh 'make module_documentation'
- archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
+ dir('build/posix_sitl_default/docs') {
+ archiveArtifacts(artifacts: 'modules/*.md')
+ }
sh 'make distclean'
}
}
@@ -302,7 +326,9 @@ pipeline {
sh 'export'
sh 'make distclean'
sh 'make uorb_graphs'
- archiveArtifacts(artifacts: 'Tools/uorb_graph/graph_sitl.json')
+ dir('Tools/uorb_graph') {
+ archiveArtifacts(artifacts: 'graph_sitl.json')
+ }
sh 'make distclean'
}
}
diff --git a/Makefile b/Makefile
index 24216cc3494a6a693a5bdd15e33f0545fd386850..8917658d8cc888f433907eb312fcf948f134e836 100644
--- a/Makefile
+++ b/Makefile
@@ -253,15 +253,13 @@ coverity_scan: posix_sitl_default
.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
parameters_metadata:
- @python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --markdown
- @python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --xml
+ @$(MAKE) --no-print-directory posix_sitl_default metadata_parameters
airframe_metadata:
- @python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
- @python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml
+ @$(MAKE) --no-print-directory posix_sitl_default metadata_airframes
module_documentation:
- @python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src
+ @$(MAKE) --no-print-directory posix_sitl_default metadata_module_documentation
px4_metadata: parameters_metadata airframe_metadata module_documentation
@@ -285,7 +283,7 @@ format:
# Testing
# --------------------------------------------------------------------
-.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard rostest
+.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard rostest python_coverage
tests:
@$(MAKE) --no-print-directory posix_sitl_default test_results \
@@ -314,6 +312,16 @@ tests_offboard: rostest
@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
+python_coverage:
+ @mkdir -p $(SRC_DIR)/build/python_coverage
+ @cd $(SRC_DIR)/build/python_coverage && cmake $(SRC_DIR) $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DPYTHON_COVERAGE=ON
+ @$(PX4_MAKE) -C $(SRC_DIR)/build/python_coverage
+ @$(PX4_MAKE) -C $(SRC_DIR)/build/python_coverage metadata_airframes
+ @$(PX4_MAKE) -C $(SRC_DIR)/build/python_coverage metadata_parameters
+ #@$(PX4_MAKE) -C $(SRC_DIR)/build/python_coverage module_documentation # TODO: fix within coverage.py
+ @coverage combine `find . -name .coverage\*`
+ @coverage report -m
+
# static analyzers (scan-build, clang-tidy, cppcheck)
# --------------------------------------------------------------------
.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck