From 2e14d37061408a868c097eb6ab611c3a31f79c2d Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 5 May 2018 16:55:36 -0400
Subject: [PATCH 1/2] Jenkins code coverage build

---
 Jenkinsfile | 19 +++++++++++++++++++
 Makefile    |  5 -----
 2 files changed, 19 insertions(+), 5 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index fe42ac87e68b..ea9153946f5c 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -292,6 +292,25 @@ pipeline {
           }
         }
 
+        stage('tests (code coverage)') {
+          agent {
+            docker {
+              image 'px4io/px4-dev-ros:2018-03-30'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+            }
+          }
+          steps {
+            sh 'export'
+            sh 'make distclean'
+            sh 'ulimit -c unlimited; make tests_coverage'
+            sh 'ls'
+            withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
+              sh 'curl -s https://codecov.io/bash | bash -s'
+            }
+            sh 'make distclean'
+          }
+        }
+
         stage('check stack') {
           agent {
             docker {
diff --git a/Makefile b/Makefile
index 3cffdb0613cc..9804923431b3 100644
--- a/Makefile
+++ b/Makefile
@@ -288,11 +288,6 @@ tests:
 
 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_missions.test
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
-	@$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
 	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
 	@echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage"
 

From bff74185e70e49737a303ce0f05d9932ccf32260 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 17 May 2018 20:08:03 -0400
Subject: [PATCH 2/2] posix main add SIGSEGV handler

---
 Jenkinsfile                  |  6 ++++++
 platforms/posix/src/main.cpp | 28 +++++++++++++++++++++-------
 2 files changed, 27 insertions(+), 7 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index ea9153946f5c..d9f33bb318d4 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -309,6 +309,12 @@ pipeline {
             }
             sh 'make distclean'
           }
+          post {
+            failure {
+              sh('find . -name core')
+              sh('gdb --batch --quiet -ex "thread apply all bt full" -ex "quit" build/posix_sitl_default/px4 core')
+            }
+          }
         }
 
         stage('check stack') {
diff --git a/platforms/posix/src/main.cpp b/platforms/posix/src/main.cpp
index d0b19233a74d..790d8f494751 100644
--- a/platforms/posix/src/main.cpp
+++ b/platforms/posix/src/main.cpp
@@ -83,6 +83,7 @@ extern "C" {
 		cout.flush();
 		_ExitFlag = true;
 	}
+
 	void _SigFpeHandler(int sig_num);
 	void _SigFpeHandler(int sig_num)
 	{
@@ -91,6 +92,15 @@ extern "C" {
 		PX4_BACKTRACE();
 		cout.flush();
 	}
+
+	void _SigSegvHandler(int sig_num);
+	void _SigSegvHandler(int sig_num)
+	{
+		cout.flush();
+		cout << endl << "segmentation fault" << endl;
+		PX4_BACKTRACE();
+		cout.flush();
+	}
 }
 
 static inline bool fileExists(const string &name)
@@ -299,20 +309,24 @@ int main(int argc, char **argv)
 	tcgetattr(0, &orig_term);
 	atexit(restore_term);
 
-	struct sigaction sig_int;
-	memset(&sig_int, 0, sizeof(struct sigaction));
+	// SIGINT
+	struct sigaction sig_int {};
 	sig_int.sa_handler = _SigIntHandler;
 	sig_int.sa_flags = 0;// not SA_RESTART!;
+	sigaction(SIGINT, &sig_int, nullptr);
 
-	struct sigaction sig_fpe;
-	memset(&sig_fpe, 0, sizeof(struct sigaction));
+	// SIGFPE
+	struct sigaction sig_fpe {};
 	sig_fpe.sa_handler = _SigFpeHandler;
 	sig_fpe.sa_flags = 0;// not SA_RESTART!;
-
-	sigaction(SIGINT, &sig_int, nullptr);
-	//sigaction(SIGTERM, &sig_int, NULL);
 	sigaction(SIGFPE, &sig_fpe, nullptr);
 
+	// SIGSEGV
+	struct sigaction sig_segv {};
+	sig_segv.sa_handler = _SigSegvHandler;
+	sig_segv.sa_flags = SA_RESTART | SA_SIGINFO;
+	sigaction(SIGSEGV, &sig_segv, nullptr);
+
 	set_cpu_scaling();
 
 	int index = 1;