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Jenkinsfile
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pipeline {
agent none
triggers {
gitlab(triggerOnMergeRequest: true, branchFilterType: 'All')
}
stages {
stage("Compile & Test Multiplatform") {
parallel {
stage("x86") {
agent {
dockerfile {
label 'isaac-gpu'
reuseNode true
filename 'docker/Dockerfile.deps'
args '-u root --gpus all -v /var/run/docker.sock:/var/run/docker.sock:rw'
}
}
stages {
stage('Compile x86') {
steps {
sh '''mkdir -p nvblox/build'''
sh '''mkdir -p nvblox/install'''
sh '''cd nvblox/build && cmake .. -DCMAKE_INSTALL_PREFIX=../install && make clean && make -j8 && make install'''
}
}
stage('Lint') {
steps {
sh '''bash nvblox/lint/lint_nvblox_h.sh'''
}
}
stage('Test x86') {
steps {
sh '''cd nvblox/build/tests && ctest -T test --no-compress-output'''
}
}
stage('Link Into External Project x86') {
steps {
dir("nvblox_lib_test") {
git credentialsId: 'vault-svc-ssh', url: 'ssh://[email protected]:12051/nvblox/nvblox_lib_test.git', branch: 'main'
}
sh '''mkdir -p nvblox_lib_test/build'''
sh '''cd nvblox_lib_test/build && cmake .. -DNVBLOX_INSTALL_PATH=${WORKSPACE}/nvblox/install && make'''
sh '''cd nvblox_lib_test/build && ./min_example'''
}
}
stage("Cleanup x86") {
steps {
// Archive the CTest xml output
archiveArtifacts (
artifacts: 'nvblox/build/tests/Testing/**/*.xml',
fingerprint: true
)
// Process the CTest xml output with the xUnit plugin
xunit (
testTimeMargin: '3000',
thresholdMode: 1,
thresholds: [
skipped(failureThreshold: '0'),
failed(failureThreshold: '0')
],
tools: [CTest(
pattern: 'nvblox/build/tests/Testing/**/*.xml',
deleteOutputFiles: true,
failIfNotNew: false,
skipNoTestFiles: true,
stopProcessingIfError: true
)]
)
// Clear the source and build dirs before next run
cleanWs()
}
}
}
}
stage("Jetson 5.1.1") {
agent {
dockerfile {
label 'jp-5.1.1'
reuseNode true
filename 'docker/Dockerfile.jetson_deps'
args '-u root --runtime nvidia --gpus all -v /var/run/docker.sock:/var/run/docker.sock:rw'
}
}
stages {
stage('Compile Jetson') {
steps {
sh '''mkdir -p nvblox/build'''
sh '''mkdir -p nvblox/install'''
sh '''cd nvblox/build && cmake .. -DCMAKE_INSTALL_PREFIX=../install && make clean && make -j8 && make install'''
}
}
stage('Lint') {
steps {
sh '''bash nvblox/lint/lint_nvblox_h.sh'''
}
}
stage('Test Jetson') {
steps {
sh '''cd nvblox/build/tests && ctest -T test --no-compress-output'''
}
}
stage('Link Into External Project Jetson') {
steps {
dir("nvblox_lib_test") {
git credentialsId: 'vault-svc-ssh', url: 'ssh://[email protected]:12051/nvblox/nvblox_lib_test.git', branch: 'main'
}
sh '''mkdir -p nvblox_lib_test/build'''
sh '''cd nvblox_lib_test/build && cmake .. -DNVBLOX_INSTALL_PATH=${WORKSPACE}/nvblox/install && make'''
sh '''cd nvblox_lib_test/build && ./min_example'''
}
}
stage("Cleanup Jetson") {
steps {
archiveArtifacts (
artifacts: 'nvblox/build/tests/Testing/**/*.xml',
fingerprint: true
)
// Process the CTest xml output with the xUnit plugin
xunit (
testTimeMargin: '3000',
thresholdMode: 1,
thresholds: [
skipped(failureThreshold: '0'),
failed(failureThreshold: '0')
],
tools: [CTest(
pattern: 'nvblox/build/tests/Testing/**/*.xml',
deleteOutputFiles: true,
failIfNotNew: false,
skipNoTestFiles: true,
stopProcessingIfError: true
)]
)
// Clear the source and build dirs before next run
cleanWs()
}
}
}
}
}
}
}
post {
always {
agent {
label 'isaac-gpu'
}
}
failure {
updateGitlabCommitStatus name: 'build', state: 'failed'
}
success {
updateGitlabCommitStatus name: 'build', state: 'success'
}
}
options {
gitLabConnection('gitlab-master')
}
}