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#!/usr/bin/env groovy
pipeline {
agent none
stages {
stage('Analysis') {
parallel {
stage('Catkin build on ROS workspace') {
agent {
docker {
image 'px4io/px4-dev-ros-melodic:2019-10-24'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
steps {
sh 'ls -l'
sh '''#!/bin/bash -l
echo $0;
mkdir -p catkin_ws/src;
cd catkin_ws;
git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
source /opt/ros/melodic/setup.bash;
catkin init;
catkin build -j$(nproc) -l$(nproc);
'''
// test if the binary was correctly installed and runs using 'mavros_posix_silt.launch'
sh '''#!/bin/bash -l
echo $0;
source catkin_ws/devel/setup.bash;
rostest px4 pub_test.launch;
'''
}
post {
always {
sh 'rm -rf catkin_ws'
}
failure {
archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
}
}
options {
checkoutToSubdirectory('catkin_ws/src/Firmware')
}
}
stage('Colcon build on ROS2 workspace') {
agent {
docker {
image 'px4io/px4-dev-ros2-dashing:2019-10-24'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
steps {
sh 'ls -l'
sh '''#!/bin/bash -l
echo $0;
unset ROS_DISTRO;
mkdir -p colcon_ws/src;
cd colcon_ws;
git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/sitl_gazebo
git clone --recursive ${WORKSPACE}/colcon_ws/src/Firmware/Tools/sitl_gazebo src/mavlink_sitl_gazebo;
git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
source /opt/ros/bouncy/setup.sh;
source /opt/ros/melodic/setup.sh;
colcon build --event-handlers console_direct+ --symlink-install;
'''
}
post {
always {
sh 'rm -rf colcon_ws'
}
}
options {
checkoutToSubdirectory('colcon_ws/src/Firmware')
}
}
stage('Style check') {
agent {
docker { image 'px4io/px4-dev-base-bionic:2019-10-24' }
}
steps {
sh 'make check_format'
}
post {
always {
sh 'rm -rf catkin_ws'
}
}
}
stage('px4_fmu-v2 (bloaty)') {
agent {
docker {
image 'px4io/px4-dev-nuttx:2019-10-24'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'ccache -z'
sh 'git fetch --tags'
sh 'make px4_fmu-v2_default'
sh 'make px4_fmu-v2_default bloaty_compileunits'
sh 'make px4_fmu-v2_default bloaty_inlines'
sh 'make px4_fmu-v2_default bloaty_sections'
sh 'make px4_fmu-v2_default bloaty_segments'
sh 'make px4_fmu-v2_default bloaty_symbols'
sh 'make px4_fmu-v2_default bloaty_templates'
sh 'make px4_fmu-v2_default bloaty_compare_master'
sh 'make sizes'
sh 'ccache -s'
}
post {
always {
sh 'make distclean'
}
}
environment {
CCACHE_DISABLE = 1
}
}
stage('px4_fmu-v5 (bloaty)') {
agent {
docker {
image 'px4io/px4-dev-nuttx:2019-10-24'
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 px4_fmu-v5_default'
sh 'make px4_fmu-v5_default bloaty_compileunits'
sh 'make px4_fmu-v5_default bloaty_inlines'
sh 'make px4_fmu-v5_default bloaty_sections'
sh 'make px4_fmu-v5_default bloaty_segments'
sh 'make px4_fmu-v5_default bloaty_symbols'
sh 'make px4_fmu-v5_default bloaty_templates'
sh 'make px4_fmu-v5_default bloaty_compare_master'
sh 'make sizes'
sh 'ccache -s'
}
post {
always {
sh 'make distclean'
}
}
environment {
CCACHE_DISABLE = 1
}
}
stage('px4_sitl (bloaty)') {
agent {
docker {
image 'px4io/px4-dev-nuttx:2019-10-24'
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 px4_sitl_default'
sh 'make px4_sitl_default bloaty_compileunits'
sh 'make px4_sitl_default bloaty_inlines'
sh 'make px4_sitl_default bloaty_sections'
sh 'make px4_sitl_default bloaty_segments'
sh 'make px4_sitl_default bloaty_symbols'
sh 'make px4_sitl_default bloaty_templates'
//sh 'make px4_fmu-v5_default bloaty_compare_master'
sh 'make sizes'
sh 'ccache -s'
}
post {
always {
sh 'make distclean'
}
}
environment {
CCACHE_DISABLE = 1
}
}
stage('px4_fmu-v5 (no ninja)') {
agent {
docker {
image 'px4io/px4-dev-nuttx:2019-10-24'
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 px4_fmu-v5_default'
sh 'make sizes'
sh 'ccache -s'
}
post {
always {
sh 'make distclean'
}
}
environment {
NO_NINJA_BUILD = 1
}
}
stage('px4_sitl (no ninja)') {
agent {
docker {
image 'px4io/px4-dev-nuttx:2019-10-24'
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 px4_sitl_default'
sh 'make sizes'
sh 'ccache -s'
}
post {
always {
sh 'make distclean'
}
}
environment {
NO_NINJA_BUILD = 1
}
}
stage('SITL unit tests') {
agent {
docker {
image 'px4io/px4-dev-base-bionic:2019-10-24'
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 {
image 'px4io/px4-dev-clang:2019-10-24'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'git fetch --tags'
sh 'make scan-build'
// publish html
publishHTML target: [
reportTitles: 'clang static analyzer',
allowMissing: false,
alwaysLinkToLastBuild: true,
keepAll: true,
reportDir: 'build/scan-build/report_latest',
reportFiles: '*',
reportName: 'Clang Static Analyzer'
]
}
post {
always {
sh 'make distclean'
}
}
when {
anyOf {
branch 'master'
branch 'beta'
branch 'stable'
branch 'pr-jenkins' // for testing
}
}
}
stage('Clang tidy') {
agent {
docker {
image 'px4io/px4-dev-clang:2019-10-24'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'git fetch --tags'
retry (3) {
sh 'make clang-tidy-quiet'
}
}
post {
always {
sh 'make distclean'
}
}
}
stage('Cppcheck') {
agent {
docker {
image 'px4io/px4-dev-base-bionic:2019-10-24'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'git fetch --tags'
sh 'make cppcheck'
// publish html
publishHTML target: [
reportTitles: 'Cppcheck',
allowMissing: false,
alwaysLinkToLastBuild: true,
keepAll: true,
reportDir: 'build/cppcheck/',
reportFiles: '*',
reportName: 'Cppcheck'
]
}
post {
always {
sh 'make distclean'
}
}
when {
anyOf {
branch 'master'
branch 'beta'
branch 'stable'
branch 'pr-jenkins' // for testing
}
}
}
stage('Check stack') {
agent {
docker {
image 'px4io/px4-dev-nuttx:2019-10-24'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'git fetch --tags'
sh 'make px4_fmu-v2_default stack_check'
}
post {
always {
sh 'make distclean'
}
}
}
stage('ShellCheck') {
agent {
docker {
image 'px4io/px4-dev-nuttx:2019-10-24'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'make shellcheck_all'
}
post {
always {
sh 'make distclean'
}
}
}
stage('Module config validation') {
agent {
docker {
image 'px4io/px4-dev-base-bionic:2019-10-24'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'make validate_module_configs'
}
post {
always {
sh 'make distclean'
}
}
}
} // parallel
} // stage Analysis
stage('Generate Metadata') {
parallel {
stage('Airframe') {
agent {
docker { image 'px4io/px4-dev-base-bionic:2019-10-24' }
}
steps {
sh 'make distclean'
sh 'make airframe_metadata'
dir('build/px4_sitl_default/docs') {
archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
stash includes: 'airframes.md, airframes.xml', name: 'metadata_airframes'
}
}
post {
always {
sh 'make distclean'
}
}
}
stage('Parameter') {
agent {
docker { image 'px4io/px4-dev-base-bionic:2019-10-24' }
}
steps {
sh 'make distclean'
sh 'make parameters_metadata'
dir('build/px4_sitl_default/docs') {
archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
}
}
post {
always {
sh 'make distclean'
}
}
}
stage('Module') {
agent {
docker { image 'px4io/px4-dev-base-bionic:2019-10-24' }
}
steps {
sh 'make distclean'
sh 'make module_documentation'
dir('build/px4_sitl_default/docs') {
archiveArtifacts(artifacts: 'modules/*.md')
stash includes: 'modules/*.md', name: 'metadata_module_documentation'
}
}
post {
always {
sh 'make distclean'
}
}
}
stage('uORB graphs') {
agent {
docker {
image 'px4io/px4-dev-nuttx:2019-10-24'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'make uorb_graphs'
dir('Tools/uorb_graph') {
archiveArtifacts(artifacts: 'graph_px4_sitl.json')
stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
}
}
post {
always {
sh 'make distclean'
}
}
}
} // parallel
} // stage: Generate Metadata
stage('Deploy') {
parallel {
stage('Devguide') {
agent {
docker { image 'px4io/px4-dev-base-bionic:2019-10-24' }
}
steps {
sh('export')
unstash 'metadata_airframes'
unstash 'metadata_parameters'
unstash 'metadata_module_documentation'
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
sh('cp -R modules/*.md Devguide/en/middleware/')
sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
sh('cd Devguide; git push origin master || true')
sh('rm -rf Devguide')
}
}
when {
anyOf {
branch 'master'
branch 'pr-jenkins' // for testing
}
}
options {
skipDefaultCheckout()
}
}
stage('Userguide') {
agent {
docker { image 'px4io/px4-dev-base-bionic:2019-10-24' }
}
steps {
sh('export')
unstash 'metadata_airframes'
unstash 'metadata_parameters'
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
sh('cd px4_user_guide; git push origin master || true')
sh('rm -rf px4_user_guide')
}
}
when {
anyOf {
branch 'master'
branch 'pr-jenkins' // for testing
}
}
options {
skipDefaultCheckout()
}
}
stage('QGroundControl') {
agent {
docker { image 'px4io/px4-dev-base-bionic:2019-10-24' }
}
steps {
sh('export')
unstash 'metadata_airframes'
unstash 'metadata_parameters'
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/mavlink/qgroundcontrol.git')
sh('cp airframes.xml qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml')
sh('cp parameters.xml qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml')
sh('cd qgroundcontrol; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
sh('cd qgroundcontrol; git push origin master || true')
sh('rm -rf qgroundcontrol')
}
}
when {
anyOf {
branch 'master'
branch 'pr-jenkins' // for testing
}
}
options {
skipDefaultCheckout()
}
}
stage('PX4 ROS msgs') {
agent {
docker { image 'px4io/px4-dev-base-bionic:2019-10-24' }
}
steps {
sh('export')
sh('make distclean')
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
// 'master' branch
sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
sh('cd px4_msgs; git push origin master || true')
// 'ros1' branch
sh('cd px4_msgs; git checkout ros1')
sh('python msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
sh('cd px4_msgs; git push origin ros1 || true')
sh('rm -rf px4_msgs')
}
}
when {
anyOf {
branch 'master'
branch 'pr-jenkins' // for testing
}
}
}
stage('PX4 ROS2 bridge') {
agent {
docker { image 'px4io/px4-dev-base-bionic:2019-10-24' }
}
steps {
sh('export')
sh('make distclean')
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
// deploy uORB RTPS ID map
sh('python msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
// deploy uORB RTPS required tools
sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
// deploy templates
sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
sh('rm -rf px4_msgs')
}
}
when {
anyOf {
branch 'master'
branch 'pr-jenkins' // for testing
}
}
}
stage('S3') {
agent {
docker { image 'px4io/px4-dev-base-bionic:2019-10-24' }
}
steps {
sh('export')
unstash 'metadata_airframes'
unstash 'metadata_parameters'
sh('ls')
withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
}
}
when {
anyOf {
branch 'master'
branch 'pr-jenkins' // for testing
}
}
options {
skipDefaultCheckout()
}
}
} // parallel
} // stage: Generate Metadata
} // stages
environment {
CCACHE_DIR = '/tmp/ccache'
CI = true
GIT_AUTHOR_EMAIL = "[email protected]"
GIT_AUTHOR_NAME = "PX4BuildBot"
GIT_COMMITTER_EMAIL = "[email protected]"
GIT_COMMITTER_NAME = "PX4BuildBot"
}
options {
buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '20'))
timeout(time: 60, unit: 'MINUTES')
}
}