tools: cleanup + setup CI (#20104)

* cleanup tools

* setup tools CI

* loggerd doesn't support this anymore

* cleanup

* builds with openpilot now

.github/workflows/selfdrive_tests.yaml

@@ -0,0 +1,284 @@
+name: selfdrive
+on:
+  push:
+    branches-ignore:
+      - 'testing-closet*'
+  pull_request:
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+
+  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --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 -e PYTHONPATH=/tmp/openpilot -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+  UNIT_TEST: coverage run --append -m unittest discover
+
+jobs:
+  build_release:
+    name: build release
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    env:
+      STRIPPED_DIR: tmppilot
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Strip non-release files
+      run: |
+        mkdir $STRIPPED_DIR
+        cp -pR --parents $(cat release/files_common) $STRIPPED_DIR
+        cp Dockerfile.openpilot_base $STRIPPED_DIR
+
+        # need this to build on x86
+        cp -pR --parents phonelibs/libyuv phonelibs/snpe selfdrive/modeld/runners $STRIPPED_DIR
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Build openpilot and run checks
+      run: |
+          cd $STRIPPED_DIR
+          ${{ env.RUN }} "cd /tmp/openpilot && \
+                          scons -j$(nproc) && \
+                          python -m unittest discover selfdrive/car"
+
+  build_mac:
+    name: build macos
+    runs-on: macos-10.15
+    timeout-minutes: 60
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Determine pre-existing Homebrew packages
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: |
+        echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
+        ls -1 /usr/local/Cellar >> $GITHUB_ENV
+        echo 'EOF' >> $GITHUB_ENV
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: |
+          ~/.pyenv
+          ~/Library/Caches/pip
+          ~/Library/Caches/pipenv
+          /usr/local/Cellar
+          ~/github_brew_cache_entries.txt
+        key: macos-cache-${{ hashFiles('tools/mac_setup.sh') }}
+    - name: Brew link restored dependencies
+      if: steps.dependency-cache.outputs.cache-hit == 'true'
+      run: |
+        while read pkg; do
+          brew link --force "$pkg" # `--force` for keg-only packages
+        done < ~/github_brew_cache_entries.txt
+    - name: Install dependencies
+      run: ./tools/mac_setup.sh
+    - name: Build openpilot
+      run: eval "$(pyenv init -)" && scons -j$(nproc)
+    - name: Remove pre-existing Homebrew packages for caching
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: |
+        cd /usr/local/Cellar
+        new_cellar=$(ls -1)
+        comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
+          if [[ $pkg != "zstd" ]]; then # caching step needs zstd
+            rm -rf "$pkg"
+          fi
+        done
+        comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+
+  build_webcam:
+    name: build webcam
+    runs-on: ubuntu-20.04
+    timeout-minutes: 90
+    env:
+      IMAGE_NAME: openpilotwebcamci
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: |
+        eval "$BUILD"
+        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
+        docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/webcam/Dockerfile .
+    - name: Build openpilot
+      run: docker run --shm-size 1G --rm -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot $DOCKER_REGISTRY/$IMAGE_NAME /bin/sh -c "cd /tmp/openpilot && USE_WEBCAM=1 scons -j$(nproc)"
+    - name: Push to container registry
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
+
+  docker_push:
+    name: docker push
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    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@v2
+      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
+
+  static_analysis:
+    name: static analysis
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: pre-commit
+      run: ${{ env.RUN }} "cd /tmp/openpilot/ && git init && git add -A && pre-commit run --all"
+
+  valgrind:
+    name: valgrind
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: /tmp/comma_download_cache
+        key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/test_valgrind_replay.py') }}
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Run valgrind
+      run: |
+        ${{ env.RUN }} "cd /tmp/openpilot && \
+                        scons -j$(nproc) && \
+                        FILEREADER_CACHE=1 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@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Run unit tests
+      run: |
+        ${{ env.RUN }} "cd /tmp/openpilot && \
+                        scons -j$(nproc) && \
+                        coverage run selfdrive/test/test_fingerprints.py && \
+                        $UNIT_TEST common && \
+                        $UNIT_TEST opendbc/can && \
+                        $UNIT_TEST selfdrive/boardd && \
+                        $UNIT_TEST selfdrive/controls && \
+                        $UNIT_TEST selfdrive/monitoring && \
+                        $UNIT_TEST selfdrive/loggerd && \
+                        $UNIT_TEST selfdrive/car && \
+                        $UNIT_TEST selfdrive/locationd && \
+                        $UNIT_TEST selfdrive/athena && \
+                        $UNIT_TEST selfdrive/thermald && \
+                        $UNIT_TEST tools/lib/tests"
+    - name: Upload coverage to Codecov
+      run: bash <(curl -s https://codecov.io/bash) -v -F unit_tests
+
+  process_replay:
+    name: process replay
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: /tmp/comma_download_cache
+        key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/process_replay/test_processes.py') }}
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Run replay
+      run: |
+        ${{ env.RUN }} "cd /tmp/openpilot && \
+                        scons -j$(nproc) && \
+                        FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py"
+    - name: Upload coverage to Codecov
+      run: bash <(curl -s https://codecov.io/bash) -v -F process_replay
+    - name: 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
+
+  test_longitudinal:
+    name: longitudinal
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Test longitudinal
+      run: |
+        ${{ env.RUN }} "mkdir -p /tmp/openpilot/selfdrive/test/out && \
+                        cd /tmp/openpilot/ && \
+                        scons -j$(nproc) && \
+                        cd selfdrive/test/longitudinal_maneuvers && \
+                        ./test_longitudinal.py"
+    - uses: actions/upload-artifact@v2
+      if: always()
+      continue-on-error: true
+      with:
+        name: longitudinal
+        path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/
+
+  test_car_models:
+    name: car models
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: /tmp/comma_download_cache
+        key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/test_car_models.py') }}
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Test car models
+      run: |
+        ${{ env.RUN }} "cd /tmp/openpilot && \
+                        scons -j$(nproc) && \
+                        FILEREADER_CACHE=1 coverage run --parallel-mode -m nose --processes=4 --process-timeout=60 \
+                                           selfdrive/test/test_models.py && \
+                        coverage combine"
+    - name: Upload coverage to Codecov
+      run: bash <(curl -s https://codecov.io/bash) -v -F test_car_models