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| name: selfdrive | |
| on: | |
| push: | |
| branches-ignore: | |
| - 'testing-closet*' | |
| pull_request: | |
| concurrency: | |
| group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }} | |
| cancel-in-progress: true | |
| env: | |
| BASE_IMAGE: openpilot-base | |
| CL_BASE_IMAGE: openpilot-base-cl | |
| DOCKER_REGISTRY: ghcr.io/commaai | |
| AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} | |
| DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} | |
| BUILD: | | |
| DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . | |
| RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c | |
| BUILD_CL: | | |
| DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . | |
| RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c | |
| UNIT_TEST: coverage run --append -m unittest discover | |
| jobs: | |
| build_release: | |
| name: build release | |
| runs-on: ubuntu-20.04 | |
| env: | |
| STRIPPED_DIR: /tmp/releasepilot | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - name: Build devel | |
| run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh | |
| - uses: ./.github/workflows/setup | |
| - name: Check submodules | |
| if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' | |
| run: release/check-submodules.sh | |
| - name: Build openpilot and run checks | |
| run: | | |
| cd $STRIPPED_DIR | |
| ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py" | |
| - name: Run tests | |
| run: | | |
| cd $STRIPPED_DIR | |
| ${{ env.RUN }} "release/check-dirty.sh && \ | |
| python -m unittest discover selfdrive/car" | |
| - name: pre-commit | |
| run: | | |
| cd $GITHUB_WORKSPACE | |
| cp .pre-commit-config.yaml $STRIPPED_DIR | |
| cp .pylintrc $STRIPPED_DIR | |
| cp mypy.ini $STRIPPED_DIR | |
| cp pyproject.toml $STRIPPED_DIR | |
| cp poetry.lock $STRIPPED_DIR | |
| cd $STRIPPED_DIR | |
| ${{ env.RUN }} "pre-commit run --all" | |
| build_all: | |
| name: build all | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup | |
| with: | |
| save-cache: true | |
| - name: Build openpilot with all flags | |
| run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh" | |
| - name: Cleanup scons cache | |
| run: | | |
| ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \ | |
| scons -j$(nproc) --cache-populate" | |
| build_mac: | |
| name: build macos | |
| runs-on: macos-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - name: Determine pre-existing Homebrew packages | |
| if: steps.dependency-cache.outputs.cache-hit != 'true' | |
| run: | | |
| echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV | |
| brew list --formula -1 >> $GITHUB_ENV | |
| echo 'EOF' >> $GITHUB_ENV | |
| - name: Restore scons cache | |
| id: scons-restore-cache | |
| uses: actions/cache/restore@v3 | |
| with: | |
| path: /tmp/scons_cache | |
| key: macos_scons-${{ github.sha }} | |
| restore-keys: macos_scons- | |
| - name: Cache dependencies | |
| id: dependency-cache | |
| uses: actions/cache@v2 | |
| with: | |
| path: | | |
| ~/github_brew_cache_entries.txt | |
| ~/.pyenv | |
| ~/Library/Caches/pypoetry | |
| /usr/local/Cellar | |
| /usr/local/opt | |
| /usr/local/Caskroom/gcc-arm-* | |
| /opt/homebrew/Cellar | |
| /opt/homebrew/opt | |
| /opt/homebrew/Caskroom/gcc-arm-* | |
| /Applications/ArmGNUToolchain/*/*/* | |
| key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }} | |
| restore-keys: macos_deps- | |
| - name: Brew link restored dependencies | |
| run: | | |
| if [ -f ~/github_brew_cache_entries.txt ]; then | |
| brew link --force --overwrite $(cat ~/github_brew_cache_entries.txt) # `--force` for keg-only packages | |
| if [ -d /Applications/ArmGNUToolchain ]; then # link gcc-arm-embedded manually | |
| GCC_TOOLCHAIN="$(echo /Applications/ArmGNUToolchain/**/**/bin)" | |
| echo "$GCC_TOOLCHAIN" >> $GITHUB_PATH | |
| fi | |
| else | |
| echo "Cache entries not found" | |
| fi | |
| - name: Install dependencies | |
| if: steps.dependency-cache.outputs.cache-hit != 'true' | |
| run: ./tools/mac_setup.sh | |
| - name: Build openpilot | |
| run: | | |
| source tools/openpilot_env.sh | |
| poetry run scons -j$(nproc) | |
| - name: Pre Cache - Cleanup scons cache | |
| if: github.ref == 'refs/heads/master' | |
| run: | | |
| source tools/openpilot_env.sh | |
| rm -rf /tmp/scons_cache/* | |
| poetry run scons -j$(nproc) --cache-populate | |
| - name: Save scons cache | |
| id: scons-save-cache | |
| uses: actions/cache/save@v3 | |
| if: github.ref == 'refs/heads/master' | |
| with: | |
| path: /tmp/scons_cache | |
| key: macos_scons-${{ github.sha }} | |
| - name: Pre Cache - Remove pre-existing Homebrew packages | |
| if: steps.dependency-cache.outputs.cache-hit != 'true' | |
| run: | | |
| new_cellar=$(brew list --formula -1) | |
| comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do | |
| if [[ $pkg != "zstd" ]]; then # caching step needs zstd | |
| rm -rf "$(brew --cellar)/$pkg" | |
| fi | |
| done | |
| comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt | |
| # .fseventsd directory causes permission errors in dep caching step | |
| # its used by the system to observe changes within the directory - toolchain works without it, just remove it | |
| sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd | |
| docker_push: | |
| name: docker push | |
| runs-on: ubuntu-20.04 | |
| if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' | |
| needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - name: Build Docker image | |
| run: eval "$BUILD" | |
| - name: Push to container registry | |
| run: | | |
| $DOCKER_LOGIN | |
| docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest | |
| - name: Build CL Docker image | |
| run: eval "$BUILD_CL" | |
| - name: Push to container registry | |
| run: | | |
| $DOCKER_LOGIN | |
| docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest | |
| static_analysis: | |
| name: static analysis | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 30 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - name: Build Docker image | |
| run: eval "$BUILD" | |
| - name: pre-commit | |
| run: ${{ env.RUN }} "pre-commit run --all" | |
| valgrind: | |
| name: valgrind | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 30 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup | |
| - name: Build openpilot | |
| run: ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Run valgrind | |
| run: | | |
| ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py" | |
| - name: Print logs | |
| if: always() | |
| run: cat selfdrive/test/valgrind_logs.txt | |
| unit_tests: | |
| name: unit tests | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 50 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup | |
| - name: Build openpilot | |
| run: ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Run unit tests | |
| run: | | |
| ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ | |
| $UNIT_TEST common && \ | |
| $UNIT_TEST opendbc/can && \ | |
| $UNIT_TEST selfdrive/boardd && \ | |
| $UNIT_TEST selfdrive/controls && \ | |
| $UNIT_TEST selfdrive/monitoring && \ | |
| $UNIT_TEST system/loggerd && \ | |
| $UNIT_TEST selfdrive/car && \ | |
| $UNIT_TEST selfdrive/locationd && \ | |
| $UNIT_TEST system/tests && \ | |
| $UNIT_TEST system/ubloxd && \ | |
| selfdrive/locationd/test/_test_locationd_lib.py && \ | |
| ./system/ubloxd/tests/test_glonass_runner && \ | |
| $UNIT_TEST selfdrive/athena && \ | |
| $UNIT_TEST selfdrive/thermald && \ | |
| $UNIT_TEST system/hardware/tici && \ | |
| $UNIT_TEST selfdrive/mapd && \ | |
| $UNIT_TEST tools/lib/tests && \ | |
| ./selfdrive/ui/tests/create_test_translations.sh && \ | |
| QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ | |
| ./selfdrive/ui/tests/test_translations.py && \ | |
| ./common/tests/test_util && \ | |
| ./common/tests/test_swaglog && \ | |
| ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ | |
| ./system/loggerd/tests/test_logger &&\ | |
| ./system/proclogd/tests/test_proclog && \ | |
| ./tools/replay/tests/test_replay && \ | |
| ./tools/cabana/tests/test_cabana && \ | |
| ./system/camerad/test/ae_gray_test && \ | |
| ./selfdrive/test/process_replay/test_fuzzy.py && \ | |
| coverage xml" | |
| - name: "Upload coverage to Codecov" | |
| uses: codecov/codecov-action@v3 | |
| #process_replay: | |
| # name: process replay | |
| # runs-on: ubuntu-20.04 | |
| # steps: | |
| # - uses: actions/checkout@v3 | |
| # with: | |
| # submodules: true | |
| # - uses: ./.github/workflows/setup | |
| # - name: Cache test routes | |
| # id: dependency-cache | |
| # uses: actions/cache@v3 | |
| # with: | |
| # path: /tmp/comma_download_cache | |
| # key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }} | |
| # - name: Build openpilot | |
| # run: | | |
| # ${{ env.RUN }} "scons -j$(nproc)" | |
| # - name: Run replay | |
| # run: | | |
| # ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ | |
| # coverage xml" | |
| # - name: Print diff | |
| # id: print-diff | |
| # if: always() | |
| # run: cat selfdrive/test/process_replay/diff.txt | |
| # - uses: actions/upload-artifact@v2 | |
| # if: always() | |
| # continue-on-error: true | |
| # with: | |
| # name: process_replay_diff.txt | |
| # path: selfdrive/test/process_replay/diff.txt | |
| # - name: Upload reference logs | |
| # if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} | |
| # run: | | |
| # ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" | |
| # - name: "Upload coverage to Codecov" | |
| # uses: codecov/codecov-action@v3 | |
| test_modeld: | |
| name: model tests | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 30 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup | |
| - name: Build Docker image | |
| # Sim docker is needed to get the OpenCL drivers | |
| run: eval "$BUILD_CL" | |
| - name: Build openpilot | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Run model replay with ONNX | |
| run: | | |
| ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ | |
| coverage xml" | |
| - name: Run unit tests | |
| run: | | |
| ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \ | |
| coverage xml" | |
| - name: "Upload coverage to Codecov" | |
| uses: codecov/codecov-action@v3 | |
| test_longitudinal: | |
| name: longitudinal | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 30 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup | |
| - name: Build openpilot | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Test longitudinal | |
| run: | | |
| ${{ env.RUN }} "mkdir -p selfdrive/test/out && \ | |
| cd selfdrive/test/longitudinal_maneuvers && \ | |
| coverage run ./test_longitudinal.py && \ | |
| coverage xml" | |
| - name: "Upload coverage to Codecov" | |
| uses: codecov/codecov-action@v3 | |
| - uses: actions/upload-artifact@v2 | |
| if: always() | |
| continue-on-error: true | |
| with: | |
| name: longitudinal | |
| path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/ | |
| test_cars: | |
| name: cars | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 40 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| job: [0, 1, 2, 3, 4] | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup | |
| - name: Cache test routes | |
| id: dependency-cache | |
| uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b | |
| with: | |
| path: /tmp/comma_download_cache | |
| key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }} | |
| - name: Build openpilot | |
| run: ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Test car models | |
| run: | | |
| ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \ | |
| coverage xml && \ | |
| chmod -R 777 /tmp/comma_download_cache" | |
| env: | |
| NUM_JOBS: 5 | |
| JOB_ID: ${{ matrix.job }} | |
| - name: "Upload coverage to Codecov" | |
| uses: codecov/codecov-action@v3 | |
| car_docs_diff: | |
| name: PR comments | |
| runs-on: ubuntu-20.04 | |
| if: github.event_name == 'pull_request' | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| ref: ${{ github.event.pull_request.base.ref }} | |
| - uses: ./.github/workflows/setup | |
| - name: Get base car info | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info" | |
| sudo chown -R $USER:$USER ${{ github.workspace }} | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - name: Save car docs diff | |
| id: save_diff | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc)" | |
| output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true | |
| output="${output//$'\n'/'%0A'}" | |
| echo "::set-output name=diff::$output" | |
| - name: Find comment | |
| if: ${{ env.AZURE_TOKEN != '' }} | |
| uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d | |
| id: fc | |
| with: | |
| issue-number: ${{ github.event.pull_request.number }} | |
| body-includes: This PR makes changes to | |
| - name: Update comment | |
| if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }} | |
| uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4 | |
| with: | |
| comment-id: ${{ steps.fc.outputs.comment-id }} | |
| issue-number: ${{ github.event.pull_request.number }} | |
| body: "${{ steps.save_diff.outputs.diff }}" | |
| edit-mode: replace | |
| - name: Delete comment | |
| if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }} | |
| uses: actions/github-script@v6 | |
| with: | |
| script: | | |
| github.rest.issues.deleteComment({ | |
| owner: context.repo.owner, | |
| repo: context.repo.repo, | |
| comment_id: ${{ steps.fc.outputs.comment-id }} | |
| }) |