mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
[WIP] Jenkins code coverage updates
This commit is contained in:
Daniel Agar
Lorenz Meier
parent
8731a5b2b1
commit
f7a20acba6
@ -13,73 +13,69 @@ pipeline {
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stages {
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stage('Build') {
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parallel {
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stage('sitl package') {
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agent {
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docker {
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image 'px4io/px4-dev-ros:2018-07-19'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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}
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}
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agent {
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docker {
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image 'px4io/px4-dev-ros:2018-08-23'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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}
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}
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stages {
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stage('build px4') {
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steps {
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sh('export')
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sh('make distclean')
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sh "ccache -z"
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sh('make posix_sitl_default')
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sh "ccache -s"
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sh('make posix_sitl_default sitl_gazebo')
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sh "ccache -s"
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sh('make posix_sitl_default package')
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stash(name: "px4_sitl_package", includes: "build/posix_sitl_default/*.bz2")
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sh 'make distclean'
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}
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}
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stage('unit tests') {
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agent {
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docker {
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image 'px4io/px4-dev-base:2018-07-19'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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stage('stash build for coverage') {
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'ccache -z'
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sh 'make posix_sitl_default test_results_junit'
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sh 'ccache -s'
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junit 'build/posix_sitl_default/JUnitTestResults.xml'
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
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sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
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}
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sh 'make distclean'
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}
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}
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stage('code coverage (python)') {
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agent {
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docker {
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image 'px4io/px4-dev-base:2018-08-04'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'make python_coverage'
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
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sh 'curl -s https://codecov.io/bash | bash -s - -F python'
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}
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sh 'make distclean'
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stash includes: 'build/**/*', name: 'build_sitl_coverage', useDefaultExcludes: false
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}
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when {
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environment name: 'PX4_CMAKE_BUILD_TYPE', value: 'Coverage'
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}
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}
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} // parallel
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} // stage Build
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stage('unit tests') {
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steps {
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sh 'export'
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sh 'make posix_sitl_default test_results_junit'
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junit 'build/posix_sitl_default/JUnitTestResults.xml'
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}
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}
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stage('build sitl_gazebo') {
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steps {
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sh 'export'
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sh "ccache -z"
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sh('make posix_sitl_default sitl_gazebo')
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sh "ccache -s"
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}
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}
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stage('package') {
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steps {
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sh 'export'
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sh('make posix_sitl_default package')
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stash(name: "px4_sitl_package", includes: "build/posix_sitl_default/*.bz2")
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}
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}
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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stage('ROS Tests') {
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steps {
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@ -93,38 +89,38 @@ pipeline {
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],
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[
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name: "MC box",
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name: "MC_box",
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test: "mavros_posix_test_mission.test",
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mission: "MC_mission_box",
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vehicle: "iris"
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],
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[
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name: "MC offboard att",
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name: "MC_offboard_att",
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test: "mavros_posix_tests_offboard_attctl.test",
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mission: "",
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vehicle: "iris"
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],
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[
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name: "MC offboard pos",
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name: "MC_offboard_pos",
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test: "mavros_posix_tests_offboard_posctl.test",
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mission: "",
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vehicle: "iris"
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],
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[
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name: "VTOL standard",
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name: "VTOL_standard",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "standard_vtol"
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],
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[
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name: "VTOL tailsitter",
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name: "VTOL_tailsitter",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "tailsitter"
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],
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[
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name: "VTOL tiltrotor",
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name: "VTOL_tiltrotor",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "tiltrotor"
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@ -142,6 +138,56 @@ pipeline {
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} // steps
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} // ROS Tests
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stage('Coverage') {
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parallel {
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stage('code coverage (python)') {
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agent {
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docker {
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image 'px4io/px4-dev-base:2018-08-23'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'make python_coverage'
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
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sh 'curl -s https://codecov.io/bash | bash -s - -F python'
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}
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sh 'make distclean'
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}
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when {
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environment name: 'PX4_CMAKE_BUILD_TYPE', value: 'Coverage'
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}
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}
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stage('unit tests') {
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agent {
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docker {
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image 'px4io/px4-dev-base:2018-08-23'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
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}
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}
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steps {
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sh 'export'
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sh 'make distclean'
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sh 'make posix_sitl_default test_results_junit'
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
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sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
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}
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sh 'make distclean'
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}
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when {
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environment name: 'PX4_CMAKE_BUILD_TYPE', value: 'Coverage'
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}
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}
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} // parallel
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} // stage Coverage
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} //stages
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environment {
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CCACHE_DIR = '/tmp/ccache'
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@ -157,26 +203,47 @@ def createTestNode(Map test_def) {
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return {
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node {
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cleanWs()
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docker.image("px4io/px4-dev-ros:2018-03-30").inside('-e HOME=${WORKSPACE}') {
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docker.image("px4io/px4-dev-ros:2018-08-23").inside('-e HOME=${WORKSPACE}') {
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stage(test_def.name) {
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try {
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sh('export')
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unstash('px4_sitl_package')
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sh('tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2')
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sh('px4-posix_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
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sh('px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
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}
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catch (exc) {
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
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throw (exc)
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sh('export')
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if (env.PX4_CMAKE_BUILD_TYPE == 'Coverage') {
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checkout(scm)
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unstash 'build_sitl_coverage'
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}
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finally {
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sh('px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
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unstash('px4_sitl_package')
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sh('tar -xjpvf build/posix_sitl_default/px4-posix_sitl_default*.bz2')
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sh('px4-posix_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
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if (env.PX4_CMAKE_BUILD_TYPE == 'Coverage') {
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withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
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sh 'curl -s https://codecov.io/bash | bash -s - -F mission'
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sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}'
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// upload log to flight review (https://logs.px4.io/) with python code coverage
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sh('coverage run -p px4-posix_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
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// process log data (with python code coverage)
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sh('coverage run -p px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
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// upload python code coverage to codecov.io
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sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
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}
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}
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// log analysis (non code coverage)
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if (env.PX4_CMAKE_BUILD_TYPE != 'Coverage') {
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// upload log to flight review (https://logs.px4.io/)
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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/log/*/*.ulg')
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sh('px4-posix_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
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}
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// save all test artifacts for debugging
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.ulg, .ros/**/rosunit-*.xml, .ros/**/rostest-*.log')
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archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
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}
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}
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cleanWs()
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@ -23,7 +23,11 @@ pipeline {
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sh 'ccache -s'
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stash includes: 'build/nuttx_px4fmu-v2_test/nuttx_px4fmu-v2_test.elf', name: 'px4fmu-v2_test'
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stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts-px4fmu-v2'
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sh 'make distclean'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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@ -44,7 +48,11 @@ pipeline {
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sh 'ccache -s'
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stash includes: 'build/nuttx_px4fmu-v4_default/nuttx_px4fmu-v4_default.elf', name: 'px4fmu-v4_default'
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stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts-px4fmu-v4'
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sh 'make distclean'
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}
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post {
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always {
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sh 'make distclean'
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}
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}
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}
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@ -56,53 +56,53 @@ mark_as_advanced(CMAKE_CXX_FLAGS_COVERAGE CMAKE_C_FLAGS_COVERAGE CMAKE_EXE_LINKE
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# Pass them in list form, e.g.: "-j;2" for -j 2
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FUNCTION(SETUP_TARGET_FOR_COVERAGE _targetname _testrunner _outputname)
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set(options NONE)
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set(oneValueArgs NAME)
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set(multiValueArgs EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
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cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
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set(options NONE)
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set(oneValueArgs NAME)
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set(multiValueArgs EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
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cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
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if (NOT LCOV_PATH)
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message(FATAL_ERROR "lcov required")
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endif()
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if (NOT LCOV_PATH)
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message(FATAL_ERROR "lcov required")
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endif()
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if (NOT GENHTML_PATH)
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message(FATAL_ERROR "genhtml required")
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endif()
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if (NOT GENHTML_PATH)
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message(FATAL_ERROR "genhtml required")
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endif()
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set(coverage_info "${CMAKE_BINARY_DIR}/${_outputname}.info")
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set(coverage_cleaned "${coverage_info}.cleaned")
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set(coverage_info "${CMAKE_BINARY_DIR}/${_outputname}.info")
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set(coverage_cleaned "${coverage_info}.cleaned")
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separate_arguments(test_command UNIX_COMMAND "${_testrunner}")
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separate_arguments(test_command UNIX_COMMAND "${_testrunner}")
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# Setup target
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add_custom_command(OUTPUT ${coverage_info}
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# Cleanup lcov
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#COMMAND ${LCOV_PATH} --quiet --directory . --zerocounters
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# Setup target
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add_custom_command(OUTPUT ${coverage_info}
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# Cleanup lcov
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#COMMAND ${LCOV_PATH} --quiet --directory . --zerocounters
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# Run tests
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COMMAND ${test_command} ${ARGV3}
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# Run tests
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COMMAND ${test_command} ${ARGV3}
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# Capturing lcov counters and generating report
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COMMAND ${LCOV_PATH} --quiet --base-directory ${CMAKE_BINARY_DIR} --directory ${CMAKE_SOURCE_DIR} --capture --output-file ${coverage_info}
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# Capturing lcov counters and generating report
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COMMAND ${LCOV_PATH} --quiet --base-directory ${CMAKE_BINARY_DIR} --directory ${CMAKE_SOURCE_DIR} --capture --output-file ${coverage_info}
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DEPENDS px4
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USES_TERMINAL
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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COMMENT "Running code coverage and generating report."
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)
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add_custom_target(${_targetname} DEPENDS ${coverage_info})
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DEPENDS px4
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USES_TERMINAL
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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COMMENT "Running code coverage and generating report."
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)
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add_custom_target(${_targetname} DEPENDS ${coverage_info})
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add_custom_command(OUTPUT ${coverage_cleaned}
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COMMAND COMMAND ${LCOV_PATH} --quiet
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--remove ${coverage_info} 'tests/*' '/usr/*' 'src/examples*'
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--output-file ${coverage_cleaned}
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DEPENDS ${coverage_info}
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)
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add_custom_command(OUTPUT ${coverage_cleaned}
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COMMAND ${LCOV_PATH} --quiet
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--remove ${coverage_info} 'tests/*' '/usr/*' 'src/examples*'
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--output-file ${coverage_cleaned}
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DEPENDS ${coverage_info}
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)
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add_custom_target(${_targetname}_genhtml
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COMMAND ${GENHTML_PATH} --quiet -o coverage-html ${coverage_cleaned}
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DEPENDS ${coverage_cleaned}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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add_custom_target(${_targetname}_genhtml
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COMMAND ${GENHTML_PATH} --quiet -o coverage-html ${coverage_cleaned}
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DEPENDS ${coverage_cleaned}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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endfunction() # SETUP_TARGET_FOR_COVERAGE
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