openpilot-evo/.github/workflows/sunnypilot-build-prebuilt.yaml

name: sunnypilot prebuilt action

env:
  BUILD_DIR: "/data/openpilot"
  OUTPUT_DIR: ${{ github.workspace }}/output
  CI_DIR: ${{ github.workspace }}/release/ci
  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
  
  # Branch configurations
  MASTER_BRANCH: "master"
  MASTER_NEW_BRANCH: "master-new"
  DEV_C3_SOURCE_BRANCH: "master-dev-c3-new"
  
  # Target branch configurations
  STAGING_TARGET_BRANCH: "staging-c3-new"
  DEV_TARGET_BRANCH: "dev-c3-new"
  RELEASE_TARGET_BRANCH: "release-c3-new"

on:
  push:
    branches: [ master, master-new, master-dev-c3-new ]
    tags: [ '*' ]
  workflow_dispatch:
    inputs:
      extra_version:
        description: 'Extra version identifier'
        required: false
        default: ''

jobs:
  build:
    concurrency:
      group: build-${{ github.head_ref || github.ref_name }}
      cancel-in-progress: false
    runs-on: self-hosted
    outputs:
      new_branch: ${{ steps.set-env.outputs.new_branch }}
      version: ${{ steps.set-env.outputs.version }}
      extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
      commit_sha: ${{ steps.set-env.outputs.commit_sha }}
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive
      - run: git lfs pull

      - name: Cache SCons
        uses: actions/cache@v4
        with:
          path: ${{env.SCONS_CACHE_DIR}}
          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }}
          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}

      - name: Set Configuration
        run: |
          if [[ "${{ github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
            # Dev configuration
            echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
            echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
            echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
          
          elif [[ "${{ github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
            # Master configuration
            echo "BRANCH_TYPE=master" >> $GITHUB_ENV
            echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
            echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
          
          elif [[ "${{ github.ref }}" == refs/tags/* ]]; then
            # Tag configuration
            echo "BRANCH_TYPE=tag" >> $GITHUB_ENV
            echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
            echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
          
          else
            # Feature branch configuration
            echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
            echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
          fi

      - name: Set environment variables
        id: set-env
        run: |
          # Write to GITHUB_OUTPUT from environment variables
          echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
          [[ ! -z "$EXTRA_VERSION_IDENTIFIER" ]] && echo "extra_version_identifier=$EXTRA_VERSION_IDENTIFIER" >> $GITHUB_OUTPUT
          [[ ! -z "$VERSION" ]] && echo "version=$VERSION" >> $GITHUB_OUTPUT
          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
          
          # Set up common environment
          source /etc/profile;
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
          printenv >> $GITHUB_ENV
          if [[ "${{ runner.debug }}" == "1" ]]; then
            cat $GITHUB_OUTPUT
          fi

      - name: Setup build environment
        run: |
          mkdir -p "${BUILD_DIR}/"
          sudo find $BUILD_DIR/ -mindepth 1 -delete
          echo "Starting build stage..."
          echo "BUILD_DIR: ${BUILD_DIR}"
          echo "CI_DIR: ${CI_DIR}"
          echo "VERSION: ${{ steps.set-env.outputs.version }}"
          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
          echo "-------"
          if [[ "${{ runner.debug }}" == "1" ]]; then
            printenv
          fi
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable

      - name: Build Panda
        run: |
          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} ${{ github.workspace }}/panda

      - name: Build Main Project
        run: |
          export PYTHONPATH="$BUILD_DIR"
          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
          cd $BUILD_DIR
          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
          touch ${BUILD_DIR}/prebuilt
          if [[ "${{ runner.debug }}" == "1" ]]; then
            ls -la ${BUILD_DIR}
          fi

      - name: Prepare Output
        run: |
          sudo rm -rf ${OUTPUT_DIR}
          mkdir -p ${OUTPUT_DIR}
          rsync -am${RUNNER_DEBUG:+v} \
            --include='**/panda/board/' \
            --include='**/panda/board/obj' \
            --include='**/panda/board/obj/panda.bin.signed' \
            --include='**/panda/board/obj/panda_h7.bin.signed' \
            --include='**/panda/board/obj/bootstub.panda.bin' \
            --include='**/panda/board/obj/bootstub.panda_h7.bin' \
            --exclude='.sconsign.dblite' \
            --exclude='*.a' \
            --exclude='*.o' \
            --exclude='*.os' \
            --exclude='*.pyc' \
            --exclude='moc_*' \
            --exclude='*.cc' \
            --exclude='Jenkinsfile' \
            --exclude='supercombo.onnx' \
            --exclude='**/panda/board/*' \
            --exclude='**/panda/board/obj/**' \
            --exclude='**/panda/certs/' \
            --exclude='**/panda/crypto/' \
            --exclude='**/release/' \
            --exclude='**/.github/' \
            --exclude='**/selfdrive/ui/replay/' \
            --exclude='**/__pycache__/' \
            --exclude='**/selfdrive/ui/*.h' \
            --exclude='**/selfdrive/ui/**/*.h' \
            --exclude='**/selfdrive/ui/qt/offroad/sunnypilot/' \
            --exclude='${{env.SCONS_CACHE_DIR}}' \
            --exclude='**/.git/' \
            --exclude='**/SConstruct' \
            --exclude='**/SConscript' \
            --exclude='**/.venv/' \
            --delete-excluded \
            --chown=comma:comma \
            ${BUILD_DIR}/ ${OUTPUT_DIR}/

      - name: 'Tar.gz files'
        run: |
          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
          ls -la prebuilt.tar.gz

      - name: 'Upload Artifact'
        uses: actions/upload-artifact@v4
        with:
          name: prebuilt
          path: prebuilt.tar.gz

      - name: Re-enable powersave
        if: always()
        run: |
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

  publish:
    concurrency:
      group: publish-${{ github.head_ref || github.ref_name }}
      cancel-in-progress: true
    if: ${{ github.event_name != 'pull_request' || github.event_name == 'pull_request' && github.event.pull_request.draft }} 
    needs: build
    runs-on: ubuntu-24.04
    environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }}
    steps:
      - uses: actions/checkout@v4

      - name: Download build artifacts
        uses: actions/download-artifact@v4
        with:
          name: prebuilt

      - name: Untar prebuilt
        run: |
          mkdir -p ${{ env.OUTPUT_DIR }}
          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}

      - name: Configure Git
        run: |
          git config --global user.email "github-actions[bot]@users.noreply.github.com"
          git config --global user.name "github-actions[bot]"

      - name: Publish to Public Repository
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        run: |
          echo '${{ toJSON(needs.build.outputs) }}'
          ls -la ${{ env.OUTPUT_DIR }}

          ${{ env.CI_DIR }}/publish.sh \
            "${{ github.workspace }}" \
            "${{ env.OUTPUT_DIR }}" \
            "${{ needs.build.outputs.new_branch }}" \
            "${{ needs.build.outputs.version }}" \
            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
            "-${{ needs.build.outputs.extra_version_identifier }}"
          
          echo ""
          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
          echo ""
          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
          echo "3. Update as needed (JSON array with no spaces)"

  notify:
    needs: [ build, publish ]
    runs-on: ubuntu-24.04
    if: success()
    steps:
      - uses: actions/checkout@v4
      - name: Setup Alpine Linux environment
        uses: jirutka/setup-alpine@v1.2.0
        with:
          packages: 'jq gettext curl'

      - name: Send Discord Notification
        env:
          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), github.head_ref || github.ref_name) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
        run: |
          TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
          export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
          export VERSION="${{ needs.build.outputs.version }}"
          export branch_name=${{ github.head_ref || github.ref_name }}
          export new_branch=${{ needs.build.outputs.new_branch }}
          export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
          echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
          curl -X POST -H "Content-Type: application/json" -d @payload.json $DISCORD_WEBHOOK
          
          echo ""
          echo "----   ℹ️ To update the list of branches that notify to dev-feedback  -----"
          echo ""
          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
          echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
          echo "3. Update as needed (JSON array with no spaces)"
        shell: alpine.sh {0}