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Jenkins split SITL tests into separate pipeline (#10144)

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This commit is contained in:
Daniel Agar
2018-08-03 23:57:44 -04:00
committed by GitHub
parent 3b5460a54a
commit 76848456bb
2 changed files with 129 additions and 269 deletions
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.ci/Jenkinsfile-SITL_tests
+129
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@@ -0,0 +1,129 @@
#!/usr/bin/env groovy
pipeline {
agent none
stages {
stage('Build') {
steps {
script {
stage('sitl package') {
node {
docker.image("px4io/px4-dev-ros:2018-07-19").inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE') {
stage("sitl package") {
try {
checkout(scm)
sh('export')
sh('make distclean')
sh "ccache -z"
sh('make posix_sitl_default')
sh "ccache -s"
sh('make posix_sitl_default sitl_gazebo')
sh "ccache -s"
sh('make posix_sitl_default package')
stash(name: "px4_sitl_package", includes: "build/posix_sitl_default/*.bz2")
}
catch (exc) {
throw (exc)
}
finally {
sh('make distclean')
}
}
}
}
}
} // script
} // steps
} // Build
stage('ROS Tests') {
steps {
script {
def missions = [
[
name: "VTOL standard",
test: "mavros_posix_test_mission.test",
mission: "vtol_new_1",
vehicle: "standard_vtol"
],
[
name: "VTOL tailsitter",
test: "mavros_posix_test_mission.test",
mission: "vtol_new_1",
vehicle: "tailsitter"
],
[
name: "VTOL tiltrotor",
test: "mavros_posix_test_mission.test",
mission: "vtol_new_1",
vehicle: "tiltrotor"
],
[
name: "MC box",
test: "mavros_posix_test_mission.test",
mission: "multirotor_box",
vehicle: "iris"
],
[
name: "MC offboard att",
test: "mavros_posix_tests_offboard_attctl.test",
mission: "",
vehicle: "iris"
],
[
name: "MC offboard pos",
test: "mavros_posix_tests_offboard_posctl.test",
mission: "",
vehicle: "iris"
]
]
def test_nodes = [:]
for (def i = 0; i < missions.size(); i++) {
test_nodes.put(missions[i].name, createTestNode(missions[i]))
}
parallel test_nodes
} // script
} // steps
} // ROS Tests
} //stages
environment {
CCACHE_DIR = '/tmp/ccache'
CI = true
}
options {
buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
timeout(time: 60, unit: 'MINUTES')
}
} // pipeline
def createTestNode(Map test_def) {
return {
node {
cleanWs()
docker.image("px4io/px4-dev-ros:2018-03-30").inside('-e HOME=${WORKSPACE}') {
stage(test_def.name) {
try {
sh('export')
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 ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
sh('px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/rootfs/fs/microsd/log/*/*.ulg')
}
catch (exc) {
archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
throw (exc)
}
finally {
sh('px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg')
archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
}
}
}
cleanWs()
}
}
}
Jenkinsfile
Vendored
-269
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@@ -324,210 +324,6 @@ pipeline {
}
}
stage('ROS vtol standard mission') {
agent {
docker {
image 'px4io/px4-dev-ros:2018-07-19'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
options {
skipDefaultCheckout()
}
steps {
sh 'export'
sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=standard_vtol'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
deleteDir()
}
failure {
sh 'ls -a'
archiveArtifacts '.ros/**/*.ulg'
archiveArtifacts '.ros/**/rosunit-*.xml'
archiveArtifacts '.ros/**/rostest-*.log'
}
}
}
stage('ROS vtol tailsitter mission') {
agent {
docker {
image 'px4io/px4-dev-ros:2018-07-19'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
options {
skipDefaultCheckout()
}
steps {
sh 'export'
sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tailsitter'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
deleteDir()
}
failure {
sh 'ls -a'
archiveArtifacts '.ros/**/*.ulg'
archiveArtifacts '.ros/**/rosunit-*.xml'
archiveArtifacts '.ros/**/rostest-*.log'
}
}
}
stage('ROS vtol tiltrotor mission') {
agent {
docker {
image 'px4io/px4-dev-ros:2018-07-19'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
options {
skipDefaultCheckout()
}
steps {
sh 'export'
sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tiltrotor'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
deleteDir()
}
failure {
sh 'ls -a'
archiveArtifacts '.ros/**/*.ulg'
archiveArtifacts '.ros/**/rosunit-*.xml'
archiveArtifacts '.ros/**/rostest-*.log'
}
}
}
stage('ROS vtol mission new 2') {
agent {
docker {
image 'px4io/px4-dev-ros:2018-07-19'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
options {
skipDefaultCheckout()
}
steps {
sh 'export'
sh 'rm -rf build; rm -rf px4-posix_sitl_default*; rm -rf .ros; rm -rf .gazebo'
unstash 'px4_sitl_package'
sh 'tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2'
sh 'px4-posix_sitl_default*/px4/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_2 vehicle:=standard_vtol'
sh 'px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh 'px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
deleteDir()
}
failure {
sh 'ls -a'
archiveArtifacts '.ros/**/*.ulg'
archiveArtifacts '.ros/**/rosunit-*.xml'
archiveArtifacts '.ros/**/rostest-*.log'
}
}
}
stage('ROS vtol mission old 1') {
agent {
docker {
image 'px4io/px4-dev-ros:2018-07-19'
args '-e CCACHE_BASEDIR=$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} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
deleteDir()
}
failure {
sh 'ls -a'
archiveArtifacts '.ros/**/*.ulg'
archiveArtifacts '.ros/**/rosunit-*.xml'
archiveArtifacts '.ros/**/rostest-*.log'
}
}
}
stage('ROS MC mission box (EKF2)') {
agent {
docker {
@@ -593,71 +389,6 @@ pipeline {
}
}
stage('ROS offboard att') {
agent {
docker {
image 'px4io/px4-dev-ros:2018-07-19'
args '-e CCACHE_BASEDIR=$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'
}
}
}
}
}