StarPilot/.github/workflows/tests.yaml

name: tests

on:
  push:
    branches:
      - master
      - Domathon
      - SecretGoodStarPilot
  pull_request:
  workflow_dispatch:
  workflow_call:
    inputs:
      run_number:
        default: '1'
        required: false
        type: string

concurrency:
  group: tests-ci-run-${{ inputs.run_number }}-${{ 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

permissions:
  contents: read

env:
  CI: 1
  PYTHONPATH: ${{ github.workspace }}

jobs:
  source_integrity:
    name: source integrity
    runs-on: ubuntu-24.04
    permissions:
      contents: read
    steps:
    - uses: actions/checkout@v7
    - name: Validate tracked dependencies
      run: python3 tools/vendor/check.py --revision HEAD
    - run: ./tools/op.sh setup
      id: setup
    - name: Build native dependencies for packaging tests
      id: build
      run: scons -j2 openpilot/common/libparams_c.so msgq_repo/msgq/ipc_pyx.so
    - name: Test dependency tools
      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
      run: python3 -m unittest discover -s tools/vendor/tests -v
    - name: Test release packaging
      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
      run: python3 -m pytest -q tools/release/tests
    - name: Test CI tools
      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
      run: python3 -m unittest discover -s tools/ci/tests -v
    - name: Test updater
      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
      run: python3 -m unittest discover -s openpilot/system/updated/tests -v
    - name: Check setup and release shell syntax
      if: ${{ !cancelled() && steps.setup.outcome == 'success' }}
      run: |
        for script in tools/op.sh tools/release/*.sh openpilot/selfdrive/test/setup_device_ci.sh; do
          bash -n "$script"
        done

  build_release:
    name: build release
    runs-on: ubuntu-24.04-arm
    env:
      STRIPPED_DIR: /tmp/releasepilot
      PYTHONPATH: /tmp/releasepilot
      STARPILOT_CI_BUILD_MANIFEST: /tmp/starpilot-release-build-${{ github.run_id }}-${{ github.run_attempt }}.json
    steps:
    - uses: actions/checkout@v7
    - uses: actions/setup-go@v7
      with:
        go-version: '1.25.1'
        cache-dependency-path: mapd_repo/go.sum
    - name: Build the pinned release map provider
      env:
        GOTOOLCHAIN: local
      run: |
        sudo apt-get update && sudo apt-get install -y --no-install-recommends pkg-config zlib1g-dev
        (cd mapd_repo && go mod download)
        PYTHONPATH="$GITHUB_WORKSPACE" python3 -m openpilot.starpilot.maps.package_shadow
    - name: Build devel
      timeout-minutes: 1
      run: TARGET_DIR=$STRIPPED_DIR tools/release/build_stripped.sh
    - run: ./tools/op.sh setup
    - name: Build openpilot and run checks
      timeout-minutes: 30
      working-directory: ${{ env.STRIPPED_DIR }}
      run: python3 openpilot/system/manager/build.py
    - name: Run tests
      timeout-minutes: 1
      working-directory: ${{ env.STRIPPED_DIR }}
      run: tools/release/check-dirty.sh
    - name: Check tracked dependencies
      timeout-minutes: 3
      run: python3 tools/vendor/check.py --revision HEAD

  developer_commands:
    name: developer commands (${{ matrix.os }})
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-24.04, macos-latest]
    runs-on: ${{ matrix.os }}
    permissions:
      contents: read
    timeout-minutes: 30
    steps:
    - uses: actions/checkout@v7
    - name: Install developer prerequisites
      run: tools/setup_dependencies.sh
    - name: Check launchers without starting tools
      run: |
        ./build --help
        ./dev help
        ./test --help
        ./tool help
        ./tools/host help
        ./c3 --help
        ./c4 --help
        ./onroad --help
    - name: Test commands through the isolated host environment
      run: |
        ./dev pytest -q tools/ci/tests/test_dev_runtime.py tools/ci/tests/test_dev_runtime_review.py tools/ci/tests/test_build_entry.py openpilot/starpilot/ui/tests/test_host_launch.py openpilot/tools/replay/tests/test_onroad_host.py openpilot/starpilot/ui/tests/test_host_window_failure.py
    - name: Build both desktop UI entrypoints without a display
      run: |
        SP_C3_COMPILE_ONLY=1 ./c3
        SP_C4_COMPILE_ONLY=1 ./c4

  build_mac:
    name: build macOS
    runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
    steps:
    - uses: actions/checkout@v7
    - name: Remove Homebrew from environment
      run: |
        FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
        echo "PATH=${FILTERED}/usr/local/bin:/usr/bin:/bin:/usr/sbin:/sbin" >> $GITHUB_ENV
    - run: ./tools/op.sh setup
    - name: Building openpilot
      run: scons

  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'))
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
    - name: Static analysis
      timeout-minutes: 1
      run: scripts/lint/lint.sh

  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'))
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
    - uses: actions/checkout@v7
    - name: Provide JavaScript runtime for Galaxy contract tests
      uses: actions/setup-node@v7
      with:
        node-version: '24'
        package-manager-cache: false
    - name: Provide pinned map provider toolchain
      uses: actions/setup-go@v7
      with:
        go-version: '1.25.1'
        cache-dependency-path: mapd_repo/go.sum
    - name: Fetch pinned map provider dependencies
      working-directory: mapd_repo
      env:
        GOTOOLCHAIN: local
      run: go mod download
    - run: ./tools/op.sh setup
      id: setup
    - name: Build openpilot
      id: build
      run: scons
    - name: Run unit tests
      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
      env:
        RAYLIB_BACKEND: headless
      run: tools/op.sh test --json-output unit-test-results.json
    - name: Test custom module-level pytest cases
      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
      timeout-minutes: 10
      env:
        RAYLIB_BACKEND: headless
      run: python3 tools/ci/run_host_tests.py --pytest
    - name: Test GM vehicle configurations and CAN behavior
      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
      timeout-minutes: 5
      run: tools/op.sh test opendbc_repo/opendbc/car/gm/tests --json-output gm-test-results.json
    - name: Test native independent-axis protocol
      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
      run: |
        openpilot/selfdrive/pandad/tests/test_panda_usb
        openpilot/selfdrive/pandad/tests/test_pandad_canprotocol
        openpilot/selfdrive/pandad/tests/test_aol_protocol
        openpilot/selfdrive/pandad/tests/test_aol_wire
        openpilot/selfdrive/pandad/tests/test_producer_timing
        openpilot/selfdrive/pandad/tests/test_producer_sink
    - name: Test map provider to host messaging
      if: ${{ !cancelled() && steps.build.outcome == 'success' }}
      working-directory: mapd_repo
      timeout-minutes: 5
      env:
        GOTOOLCHAIN: local
        STARPILOT_SHADOW_IPC_REQUIRED: '1'
        STARPILOT_SHADOW_EXEC_REQUIRED: '1'
        STARPILOT_PYTHON: ${{ github.workspace }}/.venv/bin/python
      run: go test -mod=readonly -race -run '^Test(MsgqNativeLayout|Shadow(GoPythonIPC|ExecutableHostGpsIPC))$' -count=1 -v
    - name: Save complete unit test results
      if: ${{ always() && (hashFiles('unit-test-results.json') != '' || hashFiles('gm-test-results.json') != '') }}
      uses: actions/upload-artifact@v4
      with:
        name: unit-test-results
        path: |
          unit-test-results.json
          gm-test-results.json
        if-no-files-found: error

  map_provider:
    name: map provider
    runs-on: ubuntu-24.04
    timeout-minutes: 15
    permissions:
      contents: read
    steps:
    - uses: actions/checkout@v7
    - uses: actions/setup-go@v7
      with:
        go-version: '1.25.1'
        cache-dependency-path: mapd_repo/go.sum
    - name: Install native build dependencies
      run: sudo apt-get update && sudo apt-get install -y --no-install-recommends pkg-config zlib1g-dev
    - name: Test and build pinned map provider
      run: python3 tools/ci/run_map_tests.py --output ci-results/map-provider
    - name: Save test and build evidence
      if: always()
      uses: actions/upload-artifact@v4
      with:
        name: map-provider
        path: ci-results/map-provider/
        if-no-files-found: error

  vehicle_contracts:
    name: vehicle contracts (${{ matrix.suite }})
    runs-on: ubuntu-24.04
    timeout-minutes: 35
    permissions:
      contents: read
    strategy:
      fail-fast: false
      matrix:
        suite: [interfaces, safety-debug, safety-release]
    env:
      FUZZ_SEED: '0'
    steps:
    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
    - name: Build native host dependencies
      run: scons
    - name: Run explicit vehicle suite and record every result
      timeout-minutes: 20
      run: python3 tools/ci/run_vehicle_tests.py --suite "${{ matrix.suite }}" --output "ci-results/${{ matrix.suite }}"
    - name: Require current complete interface regression coverage
      if: ${{ always() && matrix.suite == 'interfaces' }}
      run: |
        python3 tools/ci/fleet_coverage.py --require interfaces \
          --interface-coverage ci-results/interfaces/coverage.json \
          --interface-results ci-results/interfaces/results.json \
          --output ci-results/interfaces/fleet-coverage.json
    - name: Save collection, outcomes, and native build evidence
      if: always()
      uses: actions/upload-artifact@v4
      with:
        name: vehicle-contracts-${{ matrix.suite }}
        path: ci-results/${{ matrix.suite }}/
        if-no-files-found: error

  recorded_vehicles:
    name: recorded vehicles (${{ matrix.variant }})
    runs-on: ubuntu-24.04
    timeout-minutes: 30
    permissions:
      contents: read
    strategy:
      fail-fast: false
      matrix:
        variant: [debug, release]
    env:
      FUZZ_SEED: '0'
    steps:
    - uses: actions/checkout@v7
    - name: Install host prerequisites
      run: tools/setup_dependencies.sh
    - name: Replay pinned public CAN recordings
      timeout-minutes: 20
      run: |
        ./dev python tools/ci/run_recorded_vehicle_tests.py \
          --variant "${{ matrix.variant }}" \
          --cache "${{ runner.temp }}/recorded-fixtures" \
          --output "$GITHUB_WORKSPACE/ci-results/recorded-${{ matrix.variant }}" \
          --download
    - name: Save recorded results and native build evidence
      if: always()
      uses: actions/upload-artifact@v4
      with:
        name: recorded-vehicles-${{ matrix.variant }}
        path: ci-results/recorded-${{ matrix.variant }}/
        if-no-files-found: error

  panda_build_variants:
    name: Panda compile (${{ matrix.variant }})
    runs-on: ubuntu-24.04
    timeout-minutes: 35
    permissions:
      contents: read
    strategy:
      fail-fast: false
      matrix:
        variant: [debug, release]
    steps:
    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
    - name: Compile firmware with the checked-in development certificate
      timeout-minutes: 15
      shell: bash
      run: |
        set -euo pipefail
        mkdir -p ci-results/firmware
        if [[ "${{ matrix.variant }}" == release ]]; then
          export RELEASE=1
          export CERT="$PWD/panda/board/crypto/certs/debug"
        else
          unset RELEASE
        fi
        scons --verbose panda/board/obj/version panda/board/obj/panda.bin.signed panda/board/obj/bootstub.panda.bin panda/board/obj/panda_h7.bin.signed panda/board/obj/bootstub.panda_h7.bin 2>&1 | tee ci-results/firmware/build.log
        python3 tools/ci/record_firmware.py --variant "${{ matrix.variant }}" --build-log ci-results/firmware/build.log --output ci-results/firmware/provenance.json
    - name: Save compile evidence
      if: always()
      uses: actions/upload-artifact@v4
      with:
        name: panda-compile-${{ matrix.variant }}
        path: ci-results/firmware/
        if-no-files-found: error

  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'))
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
    - uses: actions/checkout@v7
    - run: ./tools/op.sh setup
    - name: Build openpilot
      run: scons
    - name: Run replay
      timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
      run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
    - name: Print diff
      id: print-diff
      if: ${{ always() && hashFiles('openpilot/selfdrive/test/process_replay/diff.txt') != '' }}
      run: cat openpilot/selfdrive/test/process_replay/diff.txt
    - name: Save process replay input coverage
      if: always()
      uses: actions/upload-artifact@v4
      with:
        name: process-replay-coverage
        path: openpilot/selfdrive/test/process_replay/coverage.json
        if-no-files-found: error
    - name: Print diff report
      if: ${{ always() && hashFiles('openpilot/selfdrive/test/process_replay/diff_report.txt') != '' }}
      run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
    - uses: actions/upload-artifact@v7
      if: always()
      continue-on-error: true
      with:
        name: process_replay_diff.txt
        path: openpilot/selfdrive/test/process_replay/diff.txt
    - name: Upload diff report
      uses: actions/upload-artifact@v7
      if: always() && github.event_name == 'pull_request'
      continue-on-error: true
      with:
        name: diff_report_${{ github.event.number }}
        path: openpilot/selfdrive/test/process_replay/diff_report.txt
    - name: Checkout ci-artifacts
      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      uses: actions/checkout@v7
      with:
        repository: commaai/ci-artifacts
        ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
        path: ${{ github.workspace }}/ci-artifacts
    - name: Prepare refs
      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      working-directory: ${{ github.workspace }}/ci-artifacts
      run: |
        git config user.name "GitHub Actions Bot"
        git config user.email "<>"
        git fetch origin process-replay || true
        git checkout process-replay 2>/dev/null || git checkout --orphan process-replay
        cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
        echo "${{ github.sha }}" > ref_commit
        git add .
        git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
    - name: Push refs
      if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
      uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
      with:
        timeout_minutes: 2
        max_attempts: 3
        command: cd ${{ github.workspace }}/ci-artifacts && git push origin process-replay --force

  create_ui_report:
    name: Create UI Report
    runs-on: ${{
      (github.repository == 'commaai/openpilot') &&
      ((github.event_name != 'pull_request') ||
      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
      && fromJSON('["namespace-profile-amd64-8x16"]')
      || fromJSON('["ubuntu-24.04"]') }}
    steps:
      - uses: actions/checkout@v7
      - run: ./tools/op.sh setup
      - name: Build openpilot
        run: scons
      - name: Create UI Report
        env:
          RAYLIB_BACKEND: headless
        run: |
          python3 openpilot/selfdrive/ui/tests/diff/replay.py
          python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
      - name: Upload UI Report
        uses: actions/upload-artifact@v7
        with:
          name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
          path: openpilot/selfdrive/ui/tests/diff/report