fix nightly casync build (#32111) #68
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: selfdrive | |
| on: | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| workflow_dispatch: | |
| 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: | |
| PYTHONWARNINGS: error | |
| BASE_IMAGE: openpilot-base | |
| AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} | |
| DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} | |
| BUILD: selfdrive/test/docker_build.sh base | |
| RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -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 $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c | |
| PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical | |
| jobs: | |
| build_release: | |
| name: build release | |
| runs-on: ubuntu-20.04 | |
| env: | |
| STRIPPED_DIR: /tmp/releasepilot | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - run: git lfs pull | |
| - name: Build devel | |
| timeout-minutes: 1 | |
| run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh | |
| - uses: ./.github/workflows/setup-pre-commit | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Check submodules | |
| if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' | |
| timeout-minutes: 1 | |
| run: release/check-submodules.sh | |
| - name: Build openpilot and run checks | |
| timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache | |
| run: | | |
| cd $STRIPPED_DIR | |
| ${{ env.RUN }} "python selfdrive/manager/build.py" | |
| - name: Run tests | |
| timeout-minutes: 3 | |
| run: | | |
| cd $STRIPPED_DIR | |
| ${{ env.RUN }} "release/check-dirty.sh && \ | |
| MAX_EXAMPLES=5 $PYTEST selfdrive/car" | |
| - name: pre-commit | |
| timeout-minutes: 3 | |
| run: | | |
| cd $GITHUB_WORKSPACE | |
| cp .pre-commit-config.yaml $STRIPPED_DIR | |
| cp pyproject.toml $STRIPPED_DIR | |
| cp poetry.lock $STRIPPED_DIR | |
| cd $STRIPPED_DIR | |
| ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit" | |
| build: | |
| strategy: | |
| matrix: | |
| arch: ${{ fromJson( | |
| ((github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} | |
| runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| with: | |
| docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} | |
| - uses: ./.github/workflows/compile-openpilot | |
| timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache | |
| docker_push: | |
| name: docker push | |
| strategy: | |
| matrix: | |
| arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} | |
| runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }} | |
| if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - name: Setup to push to repo | |
| run: | | |
| echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" | |
| echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV" | |
| $DOCKER_LOGIN | |
| - uses: ./.github/workflows/setup-with-retry | |
| with: | |
| docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} | |
| docker_push_multiarch: | |
| name: docker push multiarch tag | |
| runs-on: ubuntu-20.04 | |
| if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' | |
| needs: [docker_push] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: false | |
| - name: Setup docker | |
| run: | | |
| $DOCKER_LOGIN | |
| - name: Merge x64 and arm64 tags | |
| run: | | |
| export PUSH_IMAGE=true | |
| scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64 | |
| static_analysis: | |
| name: static analysis | |
| runs-on: ${{ ((github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-pre-commit | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: pre-commit | |
| timeout-minutes: 4 | |
| run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit" | |
| valgrind: | |
| name: valgrind | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Build openpilot | |
| run: ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Run valgrind | |
| timeout-minutes: 1 | |
| 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: ${{ ((github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| with: | |
| docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} | |
| - name: Build openpilot | |
| timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache | |
| run: ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Run unit tests | |
| timeout-minutes: 15 | |
| run: | | |
| ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ | |
| export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ | |
| $PYTEST --timeout 60 -m 'not slow' && \ | |
| ./selfdrive/ui/tests/create_test_translations.sh && \ | |
| QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ | |
| ./selfdrive/ui/tests/test_translations.py" | |
| - name: "Upload coverage to Codecov" | |
| uses: codecov/codecov-action@v3 | |
| with: | |
| name: ${{ github.job }} | |
| env: | |
| CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} | |
| process_replay: | |
| name: process replay | |
| runs-on: ${{ ((github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| with: | |
| docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} | |
| - name: Cache test routes | |
| id: dependency-cache | |
| uses: actions/cache@v3 | |
| with: | |
| path: .ci_cache/comma_download_cache | |
| key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }} | |
| - name: Build openpilot | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Run replay | |
| timeout-minutes: 30 | |
| run: | | |
| ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ | |
| chmod -R 777 /tmp/comma_download_cache && \ | |
| coverage combine && \ | |
| coverage xml" | |
| - name: Print diff | |
| id: print-diff | |
| if: always() | |
| run: cat selfdrive/test/process_replay/diff.txt | |
| - uses: actions/upload-artifact@v3 | |
| 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: | | |
| ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" | |
| - name: "Upload coverage to Codecov" | |
| uses: codecov/codecov-action@v3 | |
| with: | |
| name: ${{ github.job }} | |
| env: | |
| CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} | |
| regen: | |
| name: regen | |
| runs-on: 'ubuntu-20.04' | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Cache test routes | |
| id: dependency-cache | |
| uses: actions/cache@v3 | |
| with: | |
| path: .ci_cache/comma_download_cache | |
| key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }} | |
| - name: Build base Docker image | |
| run: eval "$BUILD" | |
| - name: Build openpilot | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Run regen | |
| timeout-minutes: 30 | |
| run: | | |
| ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ | |
| chmod -R 777 /tmp/comma_download_cache" | |
| test_modeld: | |
| name: model tests | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Build base Docker image | |
| run: eval "$BUILD" | |
| - name: Build openpilot | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc)" | |
| # PYTHONWARNINGS triggers a SyntaxError in onnxruntime | |
| - name: Run model replay with ONNX | |
| timeout-minutes: 4 | |
| run: | | |
| ${{ env.RUN }} "unset PYTHONWARNINGS && \ | |
| ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ | |
| coverage combine && \ | |
| coverage xml" | |
| - name: Run unit tests | |
| timeout-minutes: 4 | |
| run: | | |
| ${{ env.RUN }} "unset PYTHONWARNINGS && \ | |
| $PYTEST selfdrive/modeld" | |
| - name: "Upload coverage to Codecov" | |
| uses: codecov/codecov-action@v3 | |
| with: | |
| name: ${{ github.job }} | |
| env: | |
| CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} | |
| test_cars: | |
| name: cars | |
| runs-on: ${{ ((github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| job: [0, 1, 2, 3, 4] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Cache test routes | |
| id: dependency-cache | |
| uses: ./.github/workflows/auto-cache | |
| with: | |
| path: .ci_cache/comma_download_cache | |
| key: car_models-${{ 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 | |
| timeout-minutes: 10 | |
| run: | | |
| ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \ | |
| 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 | |
| with: | |
| name: ${{ github.job }}-${{ matrix.job }} | |
| env: | |
| CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} | |
| car_docs_diff: | |
| name: PR comments | |
| runs-on: ubuntu-20.04 | |
| if: github.event_name == 'pull_request' | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| ref: ${{ github.event.pull_request.base.ref }} | |
| - run: git lfs pull | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Get base car info | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs" | |
| sudo chown -R $USER:$USER ${{ github.workspace }} | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| path: current | |
| - run: cd current && git lfs pull | |
| - name: Save car docs diff | |
| id: save_diff | |
| run: | | |
| cd current | |
| ${{ env.RUN }} "scons -j$(nproc)" | |
| output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs") | |
| 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 }} | |
| }) | |
| create_ui_report: | |
| name: Create UI Report | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Build openpilot | |
| run: ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Create Test Report | |
| run: > | |
| ${{ env.RUN }} "PYTHONWARNINGS=ignore && | |
| source selfdrive/test/setup_xvfb.sh && | |
| export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && | |
| python selfdrive/ui/tests/test_ui/run.py" | |
| - name: Upload Test Report | |
| uses: actions/upload-artifact@v2 | |
| with: | |
| name: report | |
| path: selfdrive/ui/tests/test_ui/report |