Jenkins add SITL tests coverage pipeline

.ci/Jenkinsfile-SITL_tests

@@ -3,81 +3,32 @@
 pipeline {
   agent none
 
-  parameters {
-    choice(
-      name: 'PX4_CMAKE_BUILD_TYPE',
-      choices: ['RelWithDebInfo', 'Coverage', 'AddressSanitizer', 'UndefinedBehaviorSanitizer'],
-      description: "CMake build type"
-      )
-  }
-
   stages {
 
     stage('Build') {
-
       agent {
         docker {
           image 'px4io/px4-dev-ros-kinetic:2018-09-11'
           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE --cap-add SYS_PTRACE --entrypoint=""'
         }
       }
-
-      stages {
-
-        stage('build px4') {
-          steps {
-            sh('export')
-            sh('make distclean')
-            sh "ccache -z"
-            sh "git fetch --tags"
-            sh('make px4_sitl_default')
-            sh "ccache -s"
-          }
-        }
-
-        stage('stash build for coverage') {
-          steps {
-            stash includes: 'build/**/*', name: 'build_sitl_coverage', useDefaultExcludes: false
-          }
-          when {
-            environment name: 'PX4_CMAKE_BUILD_TYPE', value: 'Coverage'
-          }
-        }
-
-        stage('unit tests') {
-          steps {
-            sh 'export'
-            sh 'make px4_sitl_test test_results_junit'
-            junit 'build/px4_sitl_test/JUnitTestResults.xml'
-          }
-        }
-
-        stage('build sitl_gazebo') {
-          steps {
-            sh 'export'
-            sh "ccache -z"
-            sh('make px4_sitl_default sitl_gazebo')
-            sh "ccache -s"
-          }
-        }
-
-        stage('package') {
-          steps {
-            sh 'export'
-            sh('make px4_sitl_default package')
-            stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
-            archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
-          }
-        }
-
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -z'
+        sh 'git fetch --tags'
+        sh 'make px4_sitl_default'
+        sh 'make px4_sitl_default sitl_gazebo'
+        sh 'make px4_sitl_default package'
+        sh 'ccache -s'
+        stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
+        archiveArtifacts(artifacts: "build/px4_sitl_default/*.bz2", fingerprint: true, onlyIfSuccessful: true)
       }
-
       post {
         always {
             sh 'make distclean'
         }
       }
-
     } // stage Build
 
     stage('ROS Tests') {
@@ -141,64 +92,11 @@ pipeline {
       } // steps
     } // stage ROS Tests
 
-    stage('Coverage') {
-      parallel {
-
-        stage('code coverage (python)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base:2019-01-26'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw --cap-add SYS_PTRACE'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make python_coverage'
-            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
-              sh 'curl -s https://codecov.io/bash | bash -s - -F python'
-            }
-
-            sh 'make distclean'
-          }
-
-          when {
-            environment name: 'PX4_CMAKE_BUILD_TYPE', value: 'Coverage'
-          }
-        }
-
-        stage('unit tests') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-base:2019-01-26'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw --cap-add SYS_PTRACE'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'make distclean'
-            sh 'make px4_sitl_test test_results_junit'
-            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
-              sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
-            }
-            sh 'make distclean'
-          }
-          when {
-            environment name: 'PX4_CMAKE_BUILD_TYPE', value: 'Coverage'
-          }
-        }
-
-      } // parallel
-    } // stage Coverage
-
   } //stages
 
   environment {
-    ASAN_OPTIONS = 'detect_stack_use_after_return=1:check_initialization_order=1'
-    UBSAN_OPTIONS = 'print_stacktrace=1'
     CCACHE_DIR = '/tmp/ccache'
     CI = true
-    CTEST_OUTPUT_ON_FAILURE = 1
   }
 
   options {
@@ -216,11 +114,6 @@ def createTestNode(Map test_def) {
           def test_ok = true
           sh('export')
 
-          if (env.PX4_CMAKE_BUILD_TYPE == 'Coverage') {
-              checkout(scm)
-              unstash 'build_sitl_coverage'
-          }
-
           unstash('px4_sitl_package')
           sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
 
@@ -235,41 +128,19 @@ def createTestNode(Map test_def) {
           }
 
           // log analysis
-          if (env.PX4_CMAKE_BUILD_TYPE == 'Coverage') {
-            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
-              sh 'curl -s https://codecov.io/bash | bash -s - -F sitl_mission_${STAGE_NAME}'
-
-              // process log data (with python code coverage)
-              try {
-                sh('coverage run -p px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
-              } catch (exc) {
-                // save log analysis artifacts for debugging
-                archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
-                // FIXME: don't let the script to fail the build
-                // test_ok = false
-              }
-
-              // upload log to flight review (https://logs.px4.io/) with python code coverage
-              sh('coverage run -p px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
-
-              // upload python code coverage to codecov.io
-              sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
-            }
-          } else { // non code coverage
-            // process ekf log data
-            try {
-              sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
-            } catch (exc) {
-              // save log analysis artifacts for debugging
-              archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
-              // FIXME: don't let the script to fail the build
-              // test_ok = false
-            }
-
-            // upload log to flight review (https://logs.px4.io/)
-            sh('px4-px4_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')
+          // process ekf log data
+          try {
+            sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+          } catch (exc) {
+            // save log analysis artifacts for debugging
+            archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
+            // FIXME: don't let the script to fail the build
+            // test_ok = false
           }
 
+          // upload log to flight review (https://logs.px4.io/)
+          sh('px4-px4_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')
+
           if (!test_ok) {
             error('ROS Test failed')
           }