Merge pull request #239 from jc01rho-openpilot-BoltEV2019-KoKr/featur…

…e/opgm-ap-integration

Dockerfile.openpilot

@@ -10,6 +10,7 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY SConstruct ${OPENPILOT_PATH}
 
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika
@@ -25,4 +26,4 @@ COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 COPY ./system ${OPENPILOT_PATH}/system
 COPY ./body ${OPENPILOT_PATH}/body
 
-RUN scons --cache-readonly -j$(nproc)
+RUN scons --cache-readonly -j$(nproc)

Jenkinsfile

@@ -6,6 +6,8 @@ ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <
 set -e
 
 export CI=1
+export PYTHONWARNINGS=error
+export LOGPRINT=debug
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
@@ -24,6 +26,17 @@ if [ -f /TICI ]; then
     sudo systemctl start systemd-resolved
     sleep 3
   fi
+
+  # restart aux USB
+  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
+    echo "restarting aux usb"
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
+    sleep 0.5
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
+  fi
+fi
+if [ -f /data/openpilot/launch_env.sh ]; then
+  source /data/openpilot/launch_env.sh
 fi
 
 ln -snf ${env.TEST_DIR} /data/pythonpath
@@ -53,6 +66,7 @@ pipeline {
   agent none
   environment {
     CI = "1"
+    PYTHONWARNINGS = "error"
     TEST_DIR = "/data/openpilot"
     SOURCE_DIR = "/data/openpilot_source/"
     AZURE_TOKEN = credentials('azure_token')
@@ -131,18 +145,45 @@ pipeline {
         }
         */
 
+        stage('PC tests') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.openpilot_base'
+              args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'
+            }
+          }
+          steps {
+            sh "git config --global --add safe.directory '*'"
+            sh "git submodule update --init --depth=1 --recursive"
+            sh "git lfs pull"
+            // tests that our build system's dependencies are configured properly, needs a machine with lots of cores
+            sh "scons --clean && scons --no-cache --random -j42"
+            sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
+                pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
+            sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
+          }
+
+          post {
+            always {
+              sh "rm -rf ${WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
+            }
+          }
+        }
+
         stage('tizi-tests') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
             phone_steps("tizi", [
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"],
-              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
-              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
-              ["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
-              ["test rawgpsd", "python system/sensord/rawgps/test_rawgps.py"],
+              ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
             ])
           }
         }
@@ -154,7 +195,7 @@ pipeline {
           }
           steps {
             phone_steps("tici-needs-can", [
-              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
+              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
               ["check dirty", "release/check-dirty.sh"],
               ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
@@ -168,7 +209,7 @@ pipeline {
           steps {
             phone_steps("tici-loopback", [
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
             ])
           }
         }
@@ -178,35 +219,28 @@ pipeline {
           steps {
             phone_steps("tici-common", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
-              ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
-              ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
-              ["test manager", "python selfdrive/manager/test/test_manager.py"],
+              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+              ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+              ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+              ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
               ["test nav", "pytest selfdrive/navd/tests/"],
             ])
           }
         }
 
-        stage('camerad-ar') {
+        stage('camerad') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
             phone_steps("tici-ar0231", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
             ])
-          }
-        }
-
-        stage('camerad-ox') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
             phone_steps("tici-ox03c10", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
             ])
           }
         }
@@ -216,11 +250,11 @@ pipeline {
           steps {
             phone_steps("tici-lsmc", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
             ])
             phone_steps("tici-bmx-lsm", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
             ])
           }
         }