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Jenkinsfile
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#!/usr/bin/env groovy
pipeline {
agent none
stages {
stage('Analysis') {
when {
anyOf {
branch 'main'
branch 'master' // should be removed, but in case there is something going on...
branch 'pr-jenkins' // for testing
}
}
parallel {
// stage('Catkin build on ROS workspace') {
// agent {
// docker {
// image 'px4io/px4-dev-ros-melodic:2021-08-18'
// 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/simulation/gazebo/sitl_gazebo
// git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
// git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
// source /opt/ros/melodic/setup.bash;
// export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
// catkin init;
// catkin build -j$(nproc) -l$(nproc);
// '''
// // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
// sh '''#!/bin/bash -l
// echo $0;
// source catkin_ws/devel/setup.bash;
// rostest px4 pub_test.launch;
// '''
// }
// post {
// always {
// sh 'rm -rf catkin_ws'
// }
// failure {
// archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
// }
// }
// options {
// checkoutToSubdirectory('catkin_ws/src/Firmware')
// }
// }
stage('Colcon build on ROS2 workspace') {
agent {
docker {
image 'px4io/px4-dev-ros2-foxy:2021-08-18'
args '-e CCACHE_BASEDIR=$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/simulation/gazebo/sitl_gazebo;
git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
source /opt/ros/foxy/setup.sh;
colcon build --event-handlers console_direct+ --symlink-install;
'''
}
post {
always {
sh 'rm -rf colcon_ws'
}
}
options {
checkoutToSubdirectory('colcon_ws/src/Firmware')
}
}
stage('Airframe') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
steps {
sh 'make distclean; git clean -ff -x -d .'
sh 'git fetch --all --tags'
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; git clean -ff -x -d .'
}
}
}
stage('Parameter') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
steps {
sh 'make distclean; git clean -ff -x -d .'
sh 'git fetch --all --tags'
sh 'make parameters_metadata'
dir('build/px4_sitl_default/docs') {
archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
}
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
}
stage('Module') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
steps {
sh 'make distclean; git clean -ff -x -d .'
sh 'git fetch --all --tags'
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; git clean -ff -x -d .'
}
}
}
stage('msg file docs') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
steps {
sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
dir('build') {
archiveArtifacts(artifacts: 'msg_docs/*.md')
stash includes: 'msg_docs/*.md', name: 'msg_documentation'
}
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
}
stage('failsafe docs') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
steps {
sh '''#!/bin/bash -l
echo $0;
git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
cd _emscripten_sdk;
./emsdk install latest;
./emsdk activate latest;
. ./_emscripten_sdk/emsdk_env.sh;
make failsafe_web;
cd build/px4_sitl_default_failsafe_web;
mkdir -p failsafe_sim;
cp index.* parameters.json failsafe_sim;
'''
dir('build/px4_sitl_default_failsafe_web') {
archiveArtifacts(artifacts: 'failsafe_sim/*')
stash includes: 'failsafe_sim/*', name: 'failsafe_sim'
}
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
}
stage('uORB graphs') {
agent {
docker {
image 'px4io/px4-dev-nuttx-focal:2021-08-18'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean; git clean -ff -x -d .'
sh 'git fetch --all --tags'
sh 'make uorb_graphs'
dir('Tools/uorb_graph') {
archiveArtifacts(artifacts: 'graph_*.json')
stash includes: 'graph_*.json', name: 'uorb_graph'
}
}
post {
always {
sh 'make distclean; git clean -ff -x -d .'
}
}
}
} // parallel
} // stage: Generate Metadata
stage('Deploy') {
parallel {
stage('Userguide') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
steps {
sh('export')
unstash 'metadata_airframes'
unstash 'metadata_parameters'
unstash 'metadata_module_documentation'
unstash 'msg_documentation'
unstash 'failsafe_sim'
unstash 'uorb_graph'
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('cp -R modules/*.md PX4-user_guide/en/modules/')
sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
sh('cp -R failsafe_sim/* PX4-user_guide/.vuepress/public/en/config/failsafe')
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 main || true')
sh('rm -rf PX4-user_guide')
}
}
when {
anyOf {
branch 'main'
branch 'master' // should be removed, but in case there is something going on...
branch 'pr-jenkins' // for testing
}
}
options {
skipDefaultCheckout()
}
}
stage('QGroundControl') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
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 'main'
branch 'master' // should be removed, but in case there is something going on...
branch 'pr-jenkins' // for testing
}
}
options {
skipDefaultCheckout()
}
}
stage('microRTPS agent') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
steps {
sh('export')
sh('git fetch --all --tags')
sh('make distclean; git clean -ff -x -d .')
sh('make px4_sitl_rtps')
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
sh("rm -rf micrortps_agent/src micrortps_agent/idl")
sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
sh('rm -rf micrortps_agent')
}
}
when {
anyOf {
branch 'main'
branch 'master' // should be removed, but in case there is something going on...
branch 'pr-jenkins' // for testing
}
}
}
stage('PX4 ROS msgs') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
steps {
sh('export')
sh('make distclean; git clean -ff -x -d .')
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
// 'main' branch
sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
sh('cd px4_msgs; git push origin main || true')
// 'ros1' branch
sh('cd px4_msgs; git checkout ros1')
sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
sh('cd px4_msgs; git push origin ros1 || true')
sh('rm -rf px4_msgs')
}
}
when {
anyOf {
branch 'main'
branch 'master' // should be removed, but in case there is something going on...
branch 'pr-jenkins' // for testing
}
}
}
stage('PX4 ROS2 bridge') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
steps {
sh('export')
sh('make distclean; git clean -ff -x -d .')
withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
// deploy uORB RTPS ID map
sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.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_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.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 'main'
branch 'master' // should be removed, but in case there is something going on...
branch 'pr-jenkins' // for testing
}
}
}
stage('S3') {
agent {
docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
}
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/')
s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
}
}
when {
anyOf {
branch 'main'
branch 'master' // should be removed, but in case there is something going on...
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: '20', artifactDaysToKeepStr: '30'))
timeout(time: 90, unit: 'MINUTES')
}
}