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Hans-CI for Continuous Integration on Embedded Hardware

Users

Prerequisites

Install OS dependencies via the package manager:

Mac OS

brew install opencv imagemagick ninja
sudo gem install specific_install

and RMagick:

sudo gem specific_install https://github.com/rmagick/rmagick.git

Debian / Ubuntu

sudo apt-get install git-core mailutils libopencv-highgui-dev ruby-rmagick ruby-dev ninja-build

Installation

Install the Ruby dependencies using gem:

sudo gem install mail serialport sinatra json octokit thin aws-sdk specific_install

Install our custom rb_webcam gem and rmagick

sudo gem specific_install https://github.com/LorenzMeier/rb_webcam.git

And finally clone the repository:

git clone https://github.com/hanssaurer/px4test.git

Configuration

The configuration involves the local configuration and setting up a webhook in the repository.

Permissions

Add user to group and LOGOUT / reboot after.

sudo usermod -a -G video $USER

Repository

Create a new webhook with a URL looking like the one below and replace [ip or host] with the appropriate hostname.

http://[ip or host]:4567/payload

Local

To run the system, a config file called config.txt should be created in this directory. The minimum content is this:

#!/bin/bash

# Configuration for PX4 test system

export GITTOKEN=[GITHUBTOKEN]
export PX4FORK=[FORK, use "PX4" as default]
# NSH serial port, depends on HW setup
export NSHPORT=/dev/tty.usbmodemDDD5D1D3
export MAILSENDER=autotest@px4.io
export AWS_ACCESS_KEY_ID=access_key_id
export AWS_SECRET_ACCESS_KEY=secret_access_key

The generation of Github tokens is explained on the Github help page: https://help.github.com/articles/creating-an-access-token-for-command-line-use/

Also create a .hans.yml file in the local directory. In contrast to e.g. the .travis.yml this file should not be uploaded, but is part of the local, host-specific configuration (and hence part of the .gitignore file).

NOTE: This is work in progress and only partially used

# Build and autotest script for PX4 Firmware
# http://dronetest.io

hostname: 'zurich01'
location: 'Zurich'

github:
  fork: 'PX4'
  token: '[token]'

aws:
  key: '[aws key]'
  secret: '[aws secret]'

sponsor:
  name: 'Lorenz Meier'
  email: 'lorenz@px4.io'

# Connected test harnesses
setups:
- harness:
    name: 'FMUv2.4.5'
    bootloader: '/dev/usb/by-id/XXX'
    console: '/dev/usb/by-id/YYY'
    swd:
      fmu: '/dev/usb/by-id/BBB'
      io: '/dev/usb/by-id/AAA'
    branch: 'master'
    mode: 'soak'
    usb_power:
      hub: 1
      port: 2
    camera: 0

- harness:
    name: 'FMUvXXX'
    bootloader: '/dev/usb/by-id/XXX'
    console: '/dev/usb/by-id/YYY'
    swd:
      fmu: '/dev/usb/by-id/BBB'
      io: '/dev/usb/by-id/AAA'
    usb_power:
      hub: 1
      port: 3
    camera: 1

Running the test environment

Start the server

./run.sh

Standalone tests

Run the test script:

./tests.sh