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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,66 +1,144 @@ | ||
| pipeline { | ||
| agent { | ||
| dockerfile { | ||
| label 'isaac-gpu' | ||
| reuseNode true | ||
| filename 'Dockerfile.deps' | ||
| args '-u root --gpus all -v /var/run/docker.sock:/var/run/docker.sock:rw' | ||
| } | ||
| } | ||
| agent none | ||
| triggers { | ||
| gitlab(triggerOnMergeRequest: true, branchFilterType: 'All') | ||
| } | ||
| stages { | ||
| stage('Compile') { | ||
| steps { | ||
| sh '''mkdir -p nvblox/build''' | ||
| sh '''mkdir -p nvblox/install''' | ||
| sh '''cd nvblox/build && cmake .. -DCMAKE_INSTALL_PREFIX=../install && make -j8 && make install''' | ||
| } | ||
| } | ||
| stage('Test') { | ||
| steps { | ||
| sh '''cd nvblox/build/tests && ctest -T test --no-compress-output''' | ||
| } | ||
| } | ||
| stage('Link Into External Project') { | ||
| steps { | ||
| dir("nvblox_lib_test") { | ||
| git credentialsId: 'vault-svc-ssh', url: 'ssh://[email protected]:12051/nvblox/nvblox_lib_test.git', branch: 'main' | ||
| 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('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=${WORKSPACE}/nvblox/install && make''' | ||
| sh '''cd nvblox_lib_test/build && ./min_example''' | ||
| } | ||
| } | ||
| stage("Cleanup x86") { | ||
| steps { | ||
| // Archive the CTest xml output | ||
| archiveArtifacts ( | ||
| artifacts: 'nvblox/build/tests/Testing/**/*.xml', | ||
| fingerprint: true | ||
| ) | ||
|
|
||
| // Process the CTest xml output with the xUnit plugin | ||
| xunit ( | ||
| testTimeMargin: '3000', | ||
| thresholdMode: 1, | ||
| thresholds: [ | ||
| skipped(failureThreshold: '0'), | ||
| failed(failureThreshold: '0') | ||
| ], | ||
| tools: [CTest( | ||
| pattern: 'nvblox/build/tests/Testing/**/*.xml', | ||
| deleteOutputFiles: true, | ||
| failIfNotNew: false, | ||
| skipNoTestFiles: true, | ||
| stopProcessingIfError: true | ||
| )] | ||
| ) | ||
|
|
||
| // Clear the source and build dirs before next run | ||
| cleanWs() | ||
| } | ||
| } | ||
| } | ||
| } | ||
| stage("Jetson 5.0.2") { | ||
| agent { | ||
| dockerfile { | ||
| label 'jetson-5.0.2' | ||
| reuseNode true | ||
| filename 'docker/Dockerfile.jetson_deps' | ||
| args '-u root --runtime nvidia --gpus all -v /var/run/docker.sock:/var/run/docker.sock:rw' | ||
| } | ||
| } | ||
| stages { | ||
| stage('Compile Jetson') { | ||
| steps { | ||
| sh '''mkdir -p nvblox/build''' | ||
| sh '''mkdir -p nvblox/install''' | ||
| sh '''cd nvblox/build && cmake .. -DCMAKE_INSTALL_PREFIX=../install && make clean && make -j8 && make install''' | ||
| } | ||
| } | ||
| stage('Test Jetson') { | ||
| steps { | ||
| sh '''cd nvblox/build/tests && ctest -T test --no-compress-output''' | ||
| } | ||
| } | ||
| stage('Link Into External Project Jetson') { | ||
| steps { | ||
| dir("nvblox_lib_test") { | ||
| git credentialsId: 'vault-svc-ssh', url: 'ssh://[email protected]:12051/nvblox/nvblox_lib_test.git', branch: 'main' | ||
| } | ||
| sh '''mkdir -p nvblox_lib_test/build''' | ||
| sh '''cd nvblox_lib_test/build && cmake .. -DNVBLOX_INSTALL_PATH=${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() | ||
| } | ||
| } | ||
| } | ||
| } | ||
| sh '''mkdir -p nvblox_lib_test/build''' | ||
| sh '''cd nvblox_lib_test/build && cmake .. -DNVBLOX_INSTALL_PATH=${WORKSPACE}/nvblox/install && make''' | ||
| sh '''cd nvblox_lib_test/build && ./min_example''' | ||
| } | ||
| } | ||
| } | ||
| post { | ||
| always { | ||
| // Archive the CTest xml output | ||
| archiveArtifacts ( | ||
| artifacts: 'nvblox/build/tests/Testing/**/*.xml', | ||
| fingerprint: true | ||
| ) | ||
|
|
||
| // Process the CTest xml output with the xUnit plugin | ||
| xunit ( | ||
| testTimeMargin: '3000', | ||
| thresholdMode: 1, | ||
| thresholds: [ | ||
| skipped(failureThreshold: '0'), | ||
| failed(failureThreshold: '0') | ||
| ], | ||
| tools: [CTest( | ||
| pattern: 'nvblox/build/Testing/**/*.xml', | ||
| deleteOutputFiles: true, | ||
| failIfNotNew: false, | ||
| skipNoTestFiles: true, | ||
| stopProcessingIfError: true | ||
| )] | ||
| ) | ||
|
|
||
| // Clear the source and build dirs before next run | ||
| cleanWs() | ||
| agent { | ||
| label 'isaac-gpu' | ||
| } | ||
| } | ||
| failure { | ||
| updateGitlabCommitStatus name: 'build', state: 'failed' | ||
|
|
||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| FROM nvcr.io/nvidia/l4t-jetpack:r35.1.0 | ||
|
|
||
| # TZData goes first. | ||
| RUN apt-get update | ||
| ENV TZ Europe/Berlin | ||
| ENV DEBIAN_FRONTEND noninteractive | ||
| RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone | ||
| RUN apt-get install -y tzdata | ||
|
|
||
| # Install basics. | ||
| RUN apt-get update | ||
| RUN apt-get install -y ssh git jq gnupg apt-utils software-properties-common build-essential cmake | ||
|
|
||
| # Install dependencies. | ||
| RUN apt-get install -y libgoogle-glog-dev libgtest-dev curl libsqlite3-dev | ||
|
|
||
| # Build gtest because gtest doesn't do this for you for some reason. | ||
| RUN cd /usr/src/googletest && cmake . && cmake --build . --target install | ||
|
|
||
| ENV DEBIAN_FRONTEND teletype |
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