openpilot-evo/.github/workflows/build-single-tinygrad-model.yaml

name: Build Single Tinygrad Model and Push

on:
  workflow_call:
    inputs:
      upstream_branch:
        description: 'Upstream commit to build from'
        required: true
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
        required: false
        type: string
      recompiled_dir:
        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
        required: true
        type: string
      json_version:
        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
        required: true
        type: string
      artifact_suffix:
        description: 'Suffix for artifact name'
        required: false
        type: string
        default: ''
      bypass_push:
        description: 'Bypass pushing to GitLab for build-all'
        required: false
        default: true
        type: boolean
  workflow_dispatch:
    inputs:
      upstream_branch:
        description: 'Upstream commit to build from'
        required: true
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
        required: false
        type: string
      recompiled_dir:
        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
        required: true
        type: number
      json_version:
        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
        required: true
        type: number
      model_folder:
        description: 'Model folder'
        type: choice
        default: 'None'
        options:
          - None
          - Simple Plan Models
          - Space Lab Models
          - TR Models
          - DTR Models
          - Custom Merge Models
          - FOF series models
          - Other
      custom_model_folder:
        description: 'Custom model folder name (if "Other" selected)'
        required: false
        type: string
      generation:
        description: 'Model generation'
        required: false
        type: number
      version:
        description: 'Minimum selector version'
        required: false
        type: number
env:
  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json

jobs:
  build_model:
    uses: ./.github/workflows/sunnypilot-build-model.yaml
    with:
      upstream_branch: ${{ inputs.upstream_branch }}
      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
      is_20hz: true
      artifact_suffix: ${{ inputs.artifact_suffix }}
    secrets: inherit

  publish_model:
    if: ${{ !inputs.bypass_push && !cancelled() }}
    concurrency:
      group: gitlab-push-${{ inputs.recompiled_dir }}
      cancel-in-progress: false
    needs: build_model
    runs-on: ubuntu-latest
    steps:
      - name: Set up SSH
        uses: webfactory/ssh-agent@v0.9.0
        with:
          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}

      - name: Add GitLab.com SSH key to known_hosts
        run: |
          mkdir -p ~/.ssh
          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts

      - name: Clone GitLab docs repo
        env:
          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
        run: |
          echo "Cloning GitLab"
          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
          cd gitlab_docs
          echo "checkout models/${RECOMPILED_DIR}"
          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
          git checkout main
          cd ..

      - name: Checkout docs repo
        uses: actions/checkout@v4
        with:
          repository: sunnypilot/sunnypilot-docs
          ref: gh-pages
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

      - name: Validate recompiled dir and JSON version
        run: |
          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
            exit 1
          fi
          if [ ! -f "$JSON_FILE" ]; then
            echo "JSON file $JSON_FILE does not exist!"
            exit 1
          fi

      - name: Download artifact name file
        uses: actions/download-artifact@v4
        with:
          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
          path: artifact_name

      - name: Read artifact name
        id: read-artifact-name
        run: |
          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT

      - name: Download and extract model artifact
        uses: actions/download-artifact@v4
        with:
          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
          path: output

      - name: Remove unwanted files
        run: |
          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
          find output -type f -name 'dmonitoring_model.onnx' -delete

      - name: Copy model artifact(s) to GitLab recompiled dir
        env:
          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
        run: |
          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
          mkdir -p "$ARTIFACT_DIR"
          for path in output/*; do
            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
              continue
            fi
            name="$(basename "$path")"
            if [ -d "$path" ]; then
              mkdir -p "$ARTIFACT_DIR/$name"
              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
            else
              cp "$path" "$ARTIFACT_DIR/"
              echo "Copied file $name -> $ARTIFACT_DIR/"
            fi
          done

      - name: Push recompiled dir to GitLab
        env:
          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
        run: |
          cd gitlab_docs
          git checkout main
          git pull origin main
          for d in models/"$RECOMPILED_DIR"/*/; do
            git sparse-checkout add "$d"
          done
          git add models/"$RECOMPILED_DIR"
          git config --global user.name "GitHub Action"
          git config --global user.email "action@github.com"
          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
          git push origin main

      - run: |
          cd docs
          git pull origin gh-pages

      - name: Run json_parser.py to update JSON
        run: |
          FOLDER="${{ inputs.model_folder }}"
          if [ "$FOLDER" = "Other" ]; then
            FOLDER="${{ inputs.custom_model_folder }}"
          fi
          ARGS=""
          if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
            ARGS="$ARGS --model-folder \"$FOLDER\""
          fi
          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
          eval python3 docs/json_parser.py \
            --json-path "$JSON_FILE" \
            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
            --sort-by-date \
            $ARGS

      - name: Push updated JSON to GitHub docs repo
        run: |
          cd docs
          git config --global user.name "GitHub Action"
          git config --global user.email "action@github.com"
          git checkout gh-pages
          git add docs/"$(basename $JSON_FILE)"
          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
          git push origin gh-pages