mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
4040e4cdf2
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
410 lines
17 KiB
Groovy
410 lines
17 KiB
Groovy
#!/usr/bin/env groovy
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pipeline {
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agent none
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stages {
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stage('Analysis') {
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when {
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anyOf {
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branch 'main'
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branch 'master' // should be removed, but in case there is something going on...
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branch 'pr-jenkins' // for testing
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}
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}
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parallel {
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// stage('Catkin build on ROS workspace') {
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// agent {
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// docker {
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// image 'px4io/px4-dev-ros-melodic:2021-08-18'
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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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// steps {
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// sh 'ls -l'
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// sh '''#!/bin/bash -l
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// echo $0;
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// mkdir -p catkin_ws/src;
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// cd catkin_ws;
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// git -C ${WORKSPACE}/catkin_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo
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// git clone --recursive ${WORKSPACE}/catkin_ws/src/Firmware/Tools/simulation/gazebo/sitl_gazebo src/mavlink_sitl_gazebo;
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// git -C ${WORKSPACE}/catkin_ws/src/Firmware fetch --tags;
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// source /opt/ros/melodic/setup.bash;
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// export PYTHONPATH=/opt/ros/$ROS_DISTRO/lib/python2.7/dist-packages:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages;
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// catkin init;
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// catkin build -j$(nproc) -l$(nproc);
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// '''
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// // test if the binary was correctly installed and runs using 'mavros_posix_sitl.launch'
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// sh '''#!/bin/bash -l
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// echo $0;
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// source catkin_ws/devel/setup.bash;
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// rostest px4 pub_test.launch;
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// '''
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// }
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// post {
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// always {
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// sh 'rm -rf catkin_ws'
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// }
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// failure {
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// archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.xml, .ros/**/*.log')
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// }
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// }
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// options {
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// checkoutToSubdirectory('catkin_ws/src/Firmware')
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// }
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// }
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stage('Colcon build on ROS2 workspace') {
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agent {
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docker {
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image 'px4io/px4-dev-ros2-foxy:2021-08-18'
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args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
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}
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}
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steps {
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sh 'ls -l'
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sh '''#!/bin/bash -l
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echo $0;
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unset ROS_DISTRO;
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mkdir -p colcon_ws/src;
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cd colcon_ws;
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git -C ${WORKSPACE}/colcon_ws/src/Firmware submodule update --init --recursive --force Tools/simulation/gazebo/sitl_gazebo;
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git -C ${WORKSPACE}/colcon_ws/src/Firmware fetch --tags;
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source /opt/ros/foxy/setup.sh;
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colcon build --event-handlers console_direct+ --symlink-install;
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'''
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}
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post {
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always {
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sh 'rm -rf colcon_ws'
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}
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}
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options {
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checkoutToSubdirectory('colcon_ws/src/Firmware')
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}
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}
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stage('Airframe') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'git fetch --all --tags'
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sh 'make airframe_metadata'
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dir('build/px4_sitl_default/docs') {
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archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
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stash includes: 'airframes.md, airframes.xml', name: 'metadata_airframes'
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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; git clean -ff -x -d .'
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}
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}
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}
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stage('Parameter') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'git fetch --all --tags'
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sh 'make parameters_metadata'
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dir('build/px4_sitl_default/docs') {
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archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
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stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
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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; git clean -ff -x -d .'
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}
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}
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}
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stage('Module') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh 'make distclean; git clean -ff -x -d .'
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sh 'git fetch --all --tags'
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sh 'make module_documentation'
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dir('build/px4_sitl_default/docs') {
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archiveArtifacts(artifacts: 'modules/*.md')
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stash includes: 'modules/*.md', name: 'metadata_module_documentation'
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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; git clean -ff -x -d .'
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}
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}
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}
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stage('msg file docs') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
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dir('build') {
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archiveArtifacts(artifacts: 'msg_docs/*.md')
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stash includes: 'msg_docs/*.md', name: 'msg_documentation'
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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; git clean -ff -x -d .'
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}
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}
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}
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stage('uORB graphs') {
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agent {
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docker {
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image 'px4io/px4-dev-nuttx-focal:2021-08-18'
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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; git clean -ff -x -d .'
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sh 'git fetch --all --tags'
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sh 'make uorb_graphs'
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dir('Tools/uorb_graph') {
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archiveArtifacts(artifacts: 'graph_*.json')
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stash includes: 'graph_*.json', name: 'uorb_graph'
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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; git clean -ff -x -d .'
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}
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}
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}
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} // parallel
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} // stage: Generate Metadata
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stage('Deploy') {
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parallel {
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stage('Userguide') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh('export')
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unstash 'metadata_airframes'
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unstash 'metadata_parameters'
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unstash 'metadata_module_documentation'
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unstash 'msg_documentation'
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unstash 'uorb_graph'
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withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
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sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
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sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
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sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
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sh('cp -R modules/*.md PX4-user_guide/en/modules/')
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sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
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sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
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sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
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sh('cd PX4-user_guide; git push origin main || true')
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sh('rm -rf PX4-user_guide')
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}
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}
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when {
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anyOf {
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branch 'main'
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branch 'master' // should be removed, but in case there is something going on...
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branch 'pr-jenkins' // for testing
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}
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}
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options {
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skipDefaultCheckout()
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}
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}
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stage('QGroundControl') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh('export')
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unstash 'metadata_airframes'
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unstash 'metadata_parameters'
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withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
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sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/mavlink/qgroundcontrol.git')
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sh('cp airframes.xml qgroundcontrol/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml')
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sh('cp parameters.xml qgroundcontrol/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml')
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sh('cd qgroundcontrol; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
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sh('cd qgroundcontrol; git push origin master || true')
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sh('rm -rf qgroundcontrol')
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}
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}
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when {
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anyOf {
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branch 'main'
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branch 'master' // should be removed, but in case there is something going on...
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branch 'pr-jenkins' // for testing
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}
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}
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options {
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skipDefaultCheckout()
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}
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}
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stage('microRTPS agent') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh('export')
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sh('git fetch --all --tags')
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sh('make distclean; git clean -ff -x -d .')
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sh('make px4_sitl_rtps')
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withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
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sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/micrortps_agent.git -b ${BRANCH_NAME}")
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sh("rm -rf micrortps_agent/src micrortps_agent/idl")
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sh('cp -R build/px4_sitl_rtps/src/modules/micrortps_bridge/micrortps_agent/* micrortps_agent')
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sh('cd micrortps_agent; git status; git add src; git commit -a -m "Update microRTPS agent source code `date`" || true')
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sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
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sh('cd micrortps_agent; git status; git add idl; git commit -a -m "Update IDL definitions `date`" || true')
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sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
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sh('cd micrortps_agent; git status; git add CMakeLists.txt; git commit -a -m "Update CMakeLists.txt `date`" || true')
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sh('cd micrortps_agent; git push origin ${BRANCH_NAME} || true')
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sh('rm -rf micrortps_agent')
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}
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}
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when {
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anyOf {
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branch 'main'
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branch 'master' // should be removed, but in case there is something going on...
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branch 'pr-jenkins' // for testing
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}
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}
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}
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stage('PX4 ROS msgs') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh('export')
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sh('make distclean; git clean -ff -x -d .')
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withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
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sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
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// 'master' branch
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sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
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sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
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sh('cd px4_msgs; git push origin master || true')
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// 'ros1' branch
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sh('cd px4_msgs; git checkout ros1')
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sh('./msg/tools/uorb_to_ros_msgs.py msg/ px4_msgs/msg/')
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sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
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sh('cd px4_msgs; git push origin ros1 || true')
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sh('rm -rf px4_msgs')
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}
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}
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when {
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anyOf {
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branch 'main'
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branch 'master' // should be removed, but in case there is something going on...
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branch 'pr-jenkins' // for testing
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}
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}
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}
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stage('PX4 ROS2 bridge') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh('export')
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sh('make distclean; git clean -ff -x -d .')
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withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
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sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
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// deploy uORB RTPS ID map
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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')
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sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
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sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
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// deploy uORB RTPS required tools
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sh('cp msg/tools/uorb_rtps_classifier.py px4_ros_com/scripts/uorb_rtps_classifier.py')
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sh('cp msg/tools/generate_microRTPS_bridge.py px4_ros_com/scripts/generate_microRTPS_bridge.py')
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sh('cp msg/tools/px_generate_uorb_topic_files.py px4_ros_com/scripts/px_generate_uorb_topic_files.py')
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sh('cp msg/tools/px_generate_uorb_topic_helper.py px4_ros_com/scripts/px_generate_uorb_topic_helper.py')
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// deploy templates
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sh('cp msg/templates/urtps/microRTPS_agent.cpp.em px4_ros_com/templates/microRTPS_agent.cpp.em')
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sh('cp msg/templates/urtps/microRTPS_timesync.cpp.em px4_ros_com/templates/microRTPS_timesync.cpp.em')
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sh('cp msg/templates/urtps/microRTPS_timesync.h.em px4_ros_com/templates/microRTPS_timesync.h.em')
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sh('cp msg/templates/urtps/microRTPS_transport.cpp px4_ros_com/templates/microRTPS_transport.cpp')
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sh('cp msg/templates/urtps/microRTPS_transport.h px4_ros_com/templates/microRTPS_transport.h')
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sh('cp msg/templates/urtps/Publisher.cpp.em px4_ros_com/templates/Publisher.cpp.em')
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sh('cp msg/templates/urtps/Publisher.h.em px4_ros_com/templates/Publisher.h.em')
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sh('cp msg/templates/urtps/Subscriber.cpp.em px4_ros_com/templates/Subscriber.cpp.em')
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sh('cp msg/templates/urtps/Subscriber.h.em px4_ros_com/templates/Subscriber.h.em')
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sh('cp msg/templates/urtps/RtpsTopics.cpp.em px4_ros_com/templates/RtpsTopics.cpp.em')
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sh('cp msg/templates/urtps/RtpsTopics.h.em px4_ros_com/templates/RtpsTopics.h.em')
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sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS script tools `date`" || true')
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sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
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sh('rm -rf px4_msgs')
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}
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}
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when {
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anyOf {
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branch 'main'
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branch 'master' // should be removed, but in case there is something going on...
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branch 'pr-jenkins' // for testing
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}
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}
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}
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stage('S3') {
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agent {
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docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
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}
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steps {
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sh('export')
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unstash 'metadata_airframes'
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unstash 'metadata_parameters'
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sh('ls')
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withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
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s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
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s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
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s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
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}
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}
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when {
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anyOf {
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branch 'main'
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branch 'master' // should be removed, but in case there is something going on...
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branch 'pr-jenkins' // for testing
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}
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}
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options {
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skipDefaultCheckout()
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}
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}
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} // parallel
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} // stage: Generate Metadata
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} // stages
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environment {
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CCACHE_DIR = '/tmp/ccache'
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CI = true
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GIT_AUTHOR_EMAIL = "bot@px4.io"
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GIT_AUTHOR_NAME = "PX4BuildBot"
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GIT_COMMITTER_EMAIL = "bot@px4.io"
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GIT_COMMITTER_NAME = "PX4BuildBot"
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}
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options {
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buildDiscarder(logRotator(numToKeepStr: '20', artifactDaysToKeepStr: '30'))
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timeout(time: 90, unit: 'MINUTES')
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}
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}
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