I totally agree with Stephen here, the pipeline script engine is a lock 
down groovy with many quirks and approval mess. Making it a painful 
experience. Do as much as possible into your build scripts (.vcxproj, 
makefile, shell script, python...). Just launch them and take light 
decision into pipeline. If you shell scripts are working, you may want to 
clean them to just launch the build and run sequence and let Jenkins 
pipeline deceide which node should be launch and do the tests on each 
platform/OS.
The declarative pipeline seem to make it easier to do things like this, but 
from what I have seen into this forum so far, many things ain't working so 
well yet, but it's definitely the future thing with blue ocean.

I for one do use jenkins pipeline (non declarative one) and it make only 
243 lines  (with a lots of comments and even file headers) that does all 
the following:

   1. checkout repos
   2. checkout an helper repos for scripts (python, executable that does 
   specific jobs)
   3. build whole solution with msbuild
   4. build unit tests
   5. run the tests
   6. extract results results
   7. extract benchmarks data and graph them between build (into an HTML 
   web graph)
   8. Syntax checking for qmllint, Qml dir inspection, .vcxproj, .csproj 
   9. Generate the Doxygen doc

Many of those things are done into python outside pipeline script, the 
pipeline only launch them (using either sh or bat) back to back as 
different stage.

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