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Jenkinsfile
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Jenkinsfile
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/* Jenkinsfile for Jenkins running in a server using docker.
* THIS IS ONLY MEANT TO BE RUN ON THE SERVER HAVING JENKINS.
* Run the following command to mount EUROC dataset and be able to run VIO evaluation on it:
* sudo docker run -it -u root --rm -d -p 8080:8080 -p 50000:50000 -v /home/sparklab/Datasets/euroc:/Datasets/euroc -v \
jenkins-data:/var/jenkins_home -v /var/run/docker.sock:/var/run/docker.sock \
--env JAVA_OPTS="-Dhudson.model.DirectoryBrowserSupport.CSP=\"default-src 'self'; script-src * 'unsafe-eval' 'unsafe-inline'; img-src \
'self'; style-src * 'unsafe-inline'; child-src 'self'; frame-src 'self'; object-src 'self';\"" \
jenkinsci/blueocean
* Periodically backup: `docker cp <jenkins-container-name>:/var/jenkins_home ./jenkins_home`
* Also, you might need to clean disk space, run (WARNING will wipe up everything unless jenkins already runs):
* `docker system prune -a` while running jenkins (but stop all jobs).
* If you want to enable HTML reports in Jenkins, further call:
* System.setProperty("hudson.model.DirectoryBrowserSupport.CSP", "default-src 'self'; script-src * 'unsafe-eval' 'unsafe-inline'; img-src 'self'; style-src * 'unsafe-inline'; child-src 'self'; frame-src 'self'; object-src 'self';")
* in the Script console in Jenkins' administration section.
* TODO(Toni): change all Kimera-VIO-Evaluation/website/data into a Groovy String.
*/
pipeline {
agent none
stages {
stage('Build and Test on Ubuntu') {
parallel {
stage('Ubuntu 20.04') {
agent {
dockerfile {
filename 'Dockerfile_20_04'
args '-e WORKSPACE=$WORKSPACE'
}
}
stages {
stage('Build Release') {
steps {
slackSend color: 'good',
message: "Started Build <${env.BUILD_URL}|#${env.BUILD_NUMBER}> - Branch <${env.GIT_URL}|${env.GIT_BRANCH}>."
cmakeBuild buildDir: 'build', buildType: 'Release', cleanBuild: false,
cmakeArgs: '-DCMAKE_CXX_FLAGS="\
-Wno-comment \
-Wno-maybe-uninitialized \
-Wno-parentheses \
-Wno-reorder \
-Wno-return-type \
-Wno-sign-compare \
-Wno-unused-but-set-variable \
-Wno-unused-function \
-Wno-unused-parameter \
-Wno-unused-value \
-Wno-unused-variable"',
generator: 'Unix Makefiles', installation: 'InSearchPath',
sourceDir: '.', steps: [[args: '-j 4']]
}
}
stage('Test') {
steps {
wrap([$class: 'Xvfb']) {
sh 'cd build && ./testKimeraVIO --gtest_output="xml:testresults.xml" --minloglevel=0 -v=1'
junit 'build/testresults.xml'
}
}
}
stage('Euroc Performance') {
steps {
wrap([$class: 'Xvfb']) {
// Run performance tests.
// 1. Configure evo plotting: all plots in plots.pdf
sh 'evo_config set plot_export_format pdf'
sh 'evo_config set plot_split false'
// 2. Run evaluation
sh 'python3 -m kimera_eval -l DEBUG run -n jenkins_euroc --minloglevel 0 $WORKSPACE/website/data && \
python3 -m kimera_eval evaluate -n jenkins_euroc $WORKSPACE/website/data && \
python3 -m kimera_eval website $WORKSPACE/website $WORKSPACE/website/data && \
python3 -m kimera_eval summary $WORKSPACE/website/data/V1_01_easy/Euroc/results_vio.pickle \
-o $WORKSPACE/website/data/V1_01_easy/Euroc/vio_performance.csv'
}
}
post {
success {
// Plot VIO performance.
plot csvFileName: 'plot-vio-performance-per-build.csv',
csvSeries: [[file: 'website/data/V1_01_easy/Euroc/vio_performance.csv']],
group: 'Euroc Performance',
numBuilds: '30',
style: 'line',
title: 'VIO Performance',
yaxis: 'ATE [m]'
// Plot VIO timing.
plot csvFileName: 'plot-vio-timing-per-build.csv',
csvSeries: [[file: 'website/data/V1_01_easy/Euroc/output_timingOverall.csv']],
group: 'Euroc Performance',
numBuilds: '30',
style: 'line',
title: 'VIO Timing',
yaxis: 'Time [ms]'
// Publish HTML website with plotly and pdfs of VIO performance
publishHTML([allowMissing: true, alwaysLinkToLastBuild: false, keepAll: true, reportDir: 'website/data', reportFiles: 'vio_ape_euroc.html, detailed_performance.html, datasets.html, frontend.html', reportName: 'VIO Euroc Performance Report', reportTitles: 'Euroc Performance Overview, Euroc Performance Detailed, Raw VIO Output, VIO Frontend Stats'])
// Archive the website
archiveArtifacts (
artifacts: 'website/data/**/*.*',
fingerprint: true
)
// Archive the params used in evaluation (if these are used is determined
// by the experiments yaml file in Kimera-VIO-Evaluation)
archiveArtifacts (
artifacts: 'params/**/*.*',
fingerprint: true
)
}
}
}
}
}
}
}
}
post {
always {
node(null) {
echo 'Jenkins Finished'
// Clear the source and build dirs before the next run
// deleteDir()
}
}
success {
node(null) {
echo 'Success!'
slackSend color: 'good',
message: "Successful Build <${env.BUILD_URL}|#${env.BUILD_NUMBER}> - Branch ${env.BRANCH_NAME} finished in ${currentBuild.durationString}."
}
}
failure {
node(null) {
echo 'Fail!'
slackSend color: 'danger', message: "Failed - ${env.JOB_NAME} ${env.BUILD_NUMBER} (<${env.BUILD_URL}|Open>)"
}
}
unstable {
node(null) {
echo 'Unstable!'
slackSend color: 'warning', message: "Unstable - ${env.JOB_NAME} ${env.BUILD_NUMBER} (<${env.BUILD_URL}|Open>)"
}
}
cleanup {
// Clear the source and build dirs before next run
// TODO this might delete the .csv file for plots?
node(null) {
// cleanWs()
}
}
}
options {
buildDiscarder logRotator(artifactDaysToKeepStr: '120', artifactNumToKeepStr: '60', daysToKeepStr: '30', numToKeepStr: '30')
}
}