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Add-CP099-prebuilt-runtime

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sadmen
2026-08-07 00:28:25 +00:00
parent b1ecc82b1b
commit 6a52fd856d
3777 changed files with 702999 additions and 441917 deletions
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.github/workflows/auto-cache/action.yaml
+9
View File
@@ -14,17 +14,25 @@ inputs:
description: 'whether to save the cache'
default: 'false'
required: false
outputs:
cache-hit:
description: 'cache hit occurred'
value: ${{ (contains(runner.name, 'nsc') && steps.ns-cache.outputs.cache-hit) ||
(!contains(runner.name, 'nsc') && inputs.save != 'false' && steps.gha-cache.outputs.cache-hit) ||
(!contains(runner.name, 'nsc') && inputs.save == 'false' && steps.gha-cache-ro.outputs.cache-hit) }}
runs:
using: "composite"
steps:
- name: setup namespace cache
id: ns-cache
if: ${{ contains(runner.name, 'nsc') }}
uses: namespacelabs/nscloud-cache-action@v1
with:
path: ${{ inputs.path }}
- name: setup github cache
id: gha-cache
if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
uses: 'actions/cache@v4'
with:
@@ -33,6 +41,7 @@ runs:
restore-keys: ${{ inputs.restore-keys }}
- name: setup github cache
id: gha-cache-ro
if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
uses: 'actions/cache/restore@v4'
with:
.github/workflows/auto_pr_review.yaml
+5 -5
View File
@@ -35,11 +35,12 @@ jobs:
already-exists-comment: "Your PR should be made against the `master` branch"
# Welcome comment
- name: comment
uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
- name: "First timers PR"
uses: actions/first-interaction@v1
if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
with:
message: |
repo-token: ${{ secrets.GITHUB_TOKEN }}
pr-message: |
<!-- _(run_id **${{ github.run_id }}**)_ -->
Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
* Convert your PR to a draft unless it's ready to review
@@ -49,5 +50,4 @@ jobs:
* all the tests are passing
* the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
* include a route or your device' dongle ID if relevant
comment_tag: run_id
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
.github/workflows/badges.yaml
+2 -2
View File
@@ -7,7 +7,7 @@ on:
env:
BASE_IMAGE: openpilot-base
DOCKER_REGISTRY: ghcr.io/commaai
RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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/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 $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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/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 $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
jobs:
badges:
@@ -23,7 +23,7 @@ jobs:
- uses: ./.github/workflows/setup-with-retry
- name: Push badges
run: |
${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/ui/translations/create_badges.py"
rm .gitattributes
.github/workflows/ci_weekly_report.yaml
+43 -65
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@@ -10,38 +10,30 @@ concurrency:
group: ${{ github.workflow }}-${{ github.ref }}
cancel-in-progress: true
env:
CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
jobs:
setup:
if: github.repository == 'commaai/openpilot'
runs-on: ubuntu-latest
outputs:
ci_runs: ${{ steps.ci_runs_setup.outputs.value }}
ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
steps:
- id: ci_runs_setup
name: CI_RUNS=${{ env.CI_RUNS }}
run: |
CI_RUNS=${{ inputs.ci_runs || '50' }}
mylist="value=["
matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
echo "matrix=$matrix" >> $GITHUB_OUTPUT
for i in $(seq 1 $CI_RUNS);
do
if [ $i != $CI_RUNS ]; then
mylist+="\"$i\", "
else
mylist+="\"$i\"]"
fi
done
echo "$mylist" >> $GITHUB_OUTPUT
echo "Number of CI runs for report: $CI_RUNS"
ci_matrix_run:
needs: [ setup ]
strategy:
fail-fast: false
matrix:
value: ${{fromJSON(needs.setup.outputs.ci_runs)}}
matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
with:
run_number: ${{ matrix.value }}
run_number: ${{ matrix.run_number }}
report:
needs: [ci_matrix_run]
@@ -62,62 +54,48 @@ jobs:
})
var report = {}
jobs.slice(1, jobs.length-1).forEach(job => {
const jobName = job.name.split('/')[2].trim();
report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
if (job.conclusion === "skipped") return;
const jobName = job.name.split(" / ")[2];
const runRegex = /\((.*?)\)/;
const run = job.name.match(runRegex)[1];
report[jobName] = report[jobName] || { successes: [], failures: [], canceled: [] };
switch (job.conclusion) {
case "success":
report[jobName].successes.push(job.html_url); break;
report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
case "failure":
report[jobName].failures.push(job.html_url); break;
case "cancelled":
report[jobName].cancelled.push(job.html_url); break;
report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
case "canceled":
report[jobName].canceled.push({ "run_number": run, "link": job.html_url }); break;
}
});
return JSON.stringify(report);
return JSON.stringify({"jobs": report});
- name: Add job results to summary
env:
JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
run: |
echo $JOB_RESULTS > job_results.json
generate_html_table() {
echo "<table>"
echo "<thead>"
echo " <tr>"
echo " <th>Job</th>"
echo " <th>Succeeded ✅</th>"
echo " <th>Failed ❌</th>"
echo " <th>Cancelled (timed out) ⏰</th>"
echo " </tr>"
echo "</thead>"
jq -r '
"<tbody>",
keys[] as $job |
"<tr>",
" <td>\($job)</td>",
" <td>",
" <details>",
" <summary>(\(.[$job].successes | length))</summary>",
" \(.[$job].successes[])<br>",
" </details>",
" </td>",
" <td>",
" <details>",
" <summary>(\(.[$job].failures | length))</summary>",
" \(.[$job].failures[])<br>",
" </details>",
" </td>",
" <td>",
" <details>",
" <summary>(\(.[$job].cancelled | length))</summary>",
" \(.[$job].cancelled[])<br>",
" </details>",
" </td>",
"</tr>"
' job_results.json
echo "</tbody>"
echo "</table>"
}
echo "# CI Job Summary" >> $GITHUB_STEP_SUMMARY
generate_html_table >> $GITHUB_STEP_SUMMARY
cat <<EOF >> template.html
<table>
<thead>
<tr>
<th></th>
<th>Job</th>
<th>✅ Passing</th>
<th>❌ Failure Details</th>
</tr>
</thead>
<tbody>
{% for key in jobs.keys() %}<tr>
<td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
<td>{{ key }}</td>
<td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
<td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
</td>
</tr>{% endfor %}
</table>
EOF
pip install jinja2-cli
echo $JOB_RESULTS | jinja2 template.html > report.html
echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
cat report.html >> $GITHUB_STEP_SUMMARY
.github/workflows/ci_weekly_run.yaml
-4
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@@ -15,7 +15,3 @@ jobs:
uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
with:
run_number: ${{ inputs.run_number }}
tools_tests:
uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
with:
run_number: ${{ inputs.run_number }}
.github/workflows/docs.yaml
+14 -19
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@@ -15,31 +15,25 @@ concurrency:
group: docs-tests-ci-run-${{ 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
env:
BASE_IMAGE: openpilot-base
BUILD: selfdrive/test/docker_build.sh base
RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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/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
jobs:
docs:
name: build docs
runs-on: ubuntu-latest
timeout-minutes: 45
if: false # TODO: replace this with the new docs
runs-on: ubuntu-24.04
steps:
- uses: commaai/timeout@v1
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
# Build
- name: Build docs
run: |
${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
# TODO: can we install just the "docs" dependency group without the normal deps?
pip install mkdocs
mkdocs build
# Push to docs.comma.ai
- uses: actions/checkout@v4
if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
with:
@@ -54,16 +48,17 @@ jobs:
source release/identity.sh
cd openpilot-docs
git checkout --orphan tmp
git rm -rf .
cp -r ../build/docs/html/ docs/
cp -r ../docs/README.md .
# copy over docs
cp -r ../docs_site/ docs/
# GitHub pages config
touch docs/.nojekyll
echo -n docs.comma.ai > docs/CNAME
git add -f .
git add -f .
git commit -m "build docs"
# docs live in different repo to not bloat openpilot's full clone size
.github/workflows/jenkins-pr-trigger.yaml
+45
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@@ -0,0 +1,45 @@
name: jenkins scan
on:
issue_comment:
types: [created, edited]
jobs:
# TODO: gc old branches in a separate job in this workflow
scan-comments:
runs-on: ubuntu-latest
if: ${{ github.event.issue.pull_request }}
steps:
- name: Check for trigger phrase
id: check_comment
uses: actions/github-script@v7
with:
script: |
const triggerPhrase = "trigger-jenkins";
const comment = context.payload.comment.body;
const commenter = context.payload.comment.user.login;
const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
owner: context.repo.owner,
repo: context.repo.repo,
username: commenter
});
const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
return (hasWriteAccess && comment.includes(triggerPhrase));
result-encoding: json
- name: Checkout repository
if: steps.check_comment.outputs.result == 'true'
uses: actions/checkout@v4
with:
ref: refs/pull/${{ github.event.issue.number }}/head
- name: Push to tmp-jenkins branch
if: steps.check_comment.outputs.result == 'true'
run: |
git config --global user.name "github-actions[bot]"
git config --global user.email "github-actions[bot]@users.noreply.github.com"
git checkout -b tmp-jenkins-${{ github.event.issue.number }}
GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
.github/workflows/release.yaml
+2 -2
View File
@@ -1,7 +1,7 @@
name: release
on:
schedule:
- cron: '0 10 * * *'
- cron: '0 9 * * *'
workflow_dispatch:
jobs:
@@ -51,4 +51,4 @@ jobs:
- name: Push master-ci
run: |
unset TARGET_DIR
BRANCH=master-ci release/build_devel.sh
BRANCH=__nightly release/build_devel.sh
.github/workflows/repo-maintenance.yaml
+35 -28
View File
@@ -5,34 +5,33 @@ on:
- cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
workflow_dispatch:
env:
BASE_IMAGE: openpilot-base
BUILD: selfdrive/test/docker_build.sh base
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -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/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
jobs:
bump_submodules:
name: bump_submodules
update_translations:
runs-on: ubuntu-latest
container:
image: ghcr.io/commaai/openpilot-base:latest
if: github.repository == 'commaai/openpilot'
steps:
- uses: actions/checkout@v4
with:
submodules: true
- name: bump submodules
run: |
git config --global --add safe.directory '*'
git -c submodule."tinygrad".update=none submodule update --remote
git add .
- name: Create Pull Request
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
with:
author: Vehicle Researcher <user@comma.ai>
token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
commit-message: bump submodules
title: '[bot] Bump submodules'
branch: auto-bump-submodules
base: master
delete-branch: true
body: 'Automatic PR from repo-maintenance -> bump_submodules'
labels: bot
- uses: actions/checkout@v4
- uses: ./.github/workflows/setup-with-retry
- name: Update translations
run: |
${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish"
- name: Create Pull Request
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
with:
author: Vehicle Researcher <user@comma.ai>
commit-message: "Update translations"
title: "[bot] Update translations"
body: "Automatic PR from repo-maintenance -> update_translations"
branch: "update-translations"
base: "master"
delete-branch: true
labels: bot
package_updates:
name: package_updates
runs-on: ubuntu-latest
@@ -41,22 +40,30 @@ jobs:
if: github.repository == 'commaai/openpilot'
steps:
- uses: actions/checkout@v4
with:
submodules: true
- name: uv lock
run: |
python3 -m ensurepip --upgrade
pip3 install uv
uv lock --upgrade
- name: pre-commit autoupdate
- name: bump submodules
run: |
git config --global --add safe.directory '*'
pre-commit autoupdate
git -c submodule."tinygrad".update=none submodule update --remote
git add .
- name: update car docs
run: |
scons -j$(nproc) --minimal opendbc_repo
PYTHONPATH=. python selfdrive/car/docs.py
git add docs/CARS.md
- name: Create Pull Request
uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
with:
author: Vehicle Researcher <user@comma.ai>
token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
commit-message: Update Python packages and pre-commit hooks
title: '[bot] Update Python packages and pre-commit hooks'
commit-message: Update Python packages
title: '[bot] Update Python packages'
branch: auto-package-updates
base: master
delete-branch: true
.github/workflows/selfdrive_tests.yaml
+105 -137
View File
@@ -25,57 +25,51 @@ env:
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
RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -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/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: ${{ ((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
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-24.04' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
env:
STRIPPED_DIR: /tmp/releasepilot
steps:
- uses: actions/checkout@v4
with:
submodules: true
- run: git lfs pull
- name: Getting LFS files
uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
with:
timeout_minutes: 2
max_attempts: 3
command: git lfs pull
- name: Build devel
timeout-minutes: 1
run: TARGET_DIR=$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
if: github.repository == 'commaai/openpilot'
timeout-minutes: 3
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 system/manager/build.py"
${{ env.RUN }} "python3 system/manager/build.py"
- name: Run tests
timeout-minutes: 3
timeout-minutes: 1
run: |
cd $STRIPPED_DIR
${{ env.RUN }} "release/check-dirty.sh && \
MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
- name: pre-commit
timeout-minutes: 3
run: |
cd $GITHUB_WORKSPACE
cp .pre-commit-config.yaml $STRIPPED_DIR
cp pyproject.toml $STRIPPED_DIR
cd $STRIPPED_DIR
${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
${{ env.RUN }} "release/check-dirty.sh"
build:
strategy:
matrix:
arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404
runs-on: ubuntu-latest
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-24.04' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
steps:
- uses: actions/checkout@v4
with:
@@ -84,72 +78,72 @@ jobs:
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
run: |
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
: # (TODO: Re-add this once we test other archs) echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
$DOCKER_LOGIN
- 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
timeout-minutes: 30
build_mac:
name: build macos
runs-on: macos-latest
name: build macOS
runs-on: ${{ github.repository == 'commaai/openpilot' && 'namespace-profile-macos-8x14' || 'macos-latest' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- run: git lfs pull
- name: Homebrew cache
uses: ./.github/workflows/auto-cache
with:
path: ~/Library/Caches/Homebrew
- name: Install dependencies
run: ./tools/mac_setup.sh
env:
SKIP_PROMPT: 1
# package install has DeprecationWarnings
PYTHONWARNINGS: default
- name: Test openpilot environment
run: . .venv/bin/activate && scons -h
- run: git lfs pull
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
- name: Getting scons cache
uses: ./.github/workflows/auto-cache
with:
path: /tmp/scons_cache
- name: Building openpilot
run: . .venv/bin/activate && scons -j$(nproc)
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-latest' }}
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-24.04' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
env:
PYTHONWARNINGS: default
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-pre-commit
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: pre-commit
timeout-minutes: 4
run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
- name: Static analysis
timeout-minutes: 1
run: ${{ env.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'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
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-24.04' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
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
timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
run: |
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
$PYTEST --timeout 60 -m 'not slow' && \
${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
./selfdrive/ui/tests/create_test_translations.sh && \
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
pytest ./selfdrive/ui/tests/test_translations.py"
chmod -R 777 /tmp/comma_download_cache"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v4
with:
@@ -159,27 +153,25 @@ jobs:
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-latest' }}
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-24.04' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
with:
docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
- name: Cache test routes
id: dependency-cache
uses: actions/cache@v4
with:
path: .ci_cache/comma_download_cache
key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
- name: Run replay
timeout-minutes: 30
timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
run: |
${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
chmod -R 777 /tmp/comma_download_cache && \
@@ -198,15 +190,9 @@ jobs:
- 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"
# 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"
${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
- name: Run regen
if: false
timeout-minutes: 4
run: |
${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
@@ -220,33 +206,33 @@ jobs:
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-latest' }}
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-24.04' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
strategy:
fail-fast: false
matrix:
job: [0, 1]
job: [0, 1, 2, 3]
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Cache test routes
id: dependency-cache
uses: ./.github/workflows/auto-cache
id: routes-cache
uses: actions/cache@v4
with:
path: .ci_cache/comma_download_cache
key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Test car models
timeout-minutes: 20
timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 20 }}
run: |
${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
chmod -R 777 /tmp/comma_download_cache"
env:
NUM_JOBS: 2
NUM_JOBS: 4
JOB_ID: ${{ matrix.job }}
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v4
@@ -258,7 +244,8 @@ jobs:
car_docs_diff:
name: PR comments
runs-on: ubuntu-latest
if: github.event_name == 'pull_request'
#if: github.event_name == 'pull_request'
if: false # TODO: run this in opendbc?
steps:
- uses: actions/checkout@v4
with:
@@ -268,7 +255,7 @@ jobs:
- 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"
${{ env.RUN }} "scons -j$(nproc) && python3 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:
@@ -280,7 +267,7 @@ jobs:
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=$(${{ env.RUN }} "python3 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
@@ -309,74 +296,55 @@ jobs:
comment_id: ${{ steps.fc.outputs.comment-id }}
})
simulator_driving:
name: simulator driving
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-24.04' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
- name: Driving test
timeout-minutes: 1
run: |
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
source selfdrive/test/setup_vsound.sh && \
CI=1 pytest -s tools/sim/tests/test_metadrive_bridge.py"
create_ui_report:
# This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
name: Create UI Report
runs-on: ubuntu-latest
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-24.04' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: caching frames
id: frames-cache
uses: actions/cache@v4
with:
path: .ci_cache/comma_download_cache
key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Create Test Report
timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
run: >
${{ env.RUN }} "PYTHONWARNINGS=ignore &&
source selfdrive/test/setup_xvfb.sh &&
export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
python selfdrive/ui/tests/test_ui/run.py"
CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
chmod -R 777 /tmp/comma_download_cache"
- name: Upload Test Report
uses: actions/upload-artifact@v4
with:
name: report-${{ inputs.run_number }}
path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number }}
- name: Get changes to selfdrive/ui
if: ${{ github.event_name == 'pull_request' }}
id: changed-files
uses: tj-actions/changed-files@v44
with:
files: |
selfdrive/ui/**
- name: Checkout ci-artifacts
if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
uses: actions/checkout@v4
with:
repository: commaai/ci-artifacts
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
path: ${{ github.workspace }}/ci-artifacts
ref: master
- name: Push Screenshots
if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
working-directory: ${{ github.workspace }}/ci-artifacts
run: |
git checkout -b openpilot/pr-${{ github.event.pull_request.number }}
git config user.name "GitHub Actions Bot"
git config user.email "<>"
sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report/screenshots/* .
git add .
git commit -m "screenshots for PR #${{ github.event.pull_request.number }}"
git push origin openpilot/pr-${{ github.event.pull_request.number }} --force
- name: Comment Screenshots on PR
if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }}
uses: thollander/actions-comment-pull-request@v2
with:
message: |
<!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
## UI Screenshots
<table>
<tr>
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/homescreen.png"></td>
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad.png"></td>
</tr>
<tr>
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_map.png"></td>
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/onroad_sidebar.png"></td>
</tr>
<tr>
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_network.png"></td>
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.pull_request.number }}/settings_device.png"></td>
</tr>
</table>
comment_tag: run_id_screenshots
pr_number: ${{ github.event.pull_request.number }}
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
path: selfdrive/ui/tests/test_ui/report_1/screenshots
.github/workflows/setup-pre-commit/action.yaml
-12
View File
@@ -1,12 +0,0 @@
name: 'set up pre-commit environment'
runs:
using: "composite"
steps:
- uses: ./.github/workflows/auto-cache
with:
path: .ci_cache/pre-commit
key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
restore-keys: |
pre-commit-
save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}
.github/workflows/setup-with-retry/action.yaml
-3
View File
@@ -17,7 +17,6 @@ runs:
uses: ./.github/workflows/setup
continue-on-error: true
with:
docker_hub_pat: ${{ inputs.docker_hub_pat }}
is_retried: true
- if: steps.setup1.outcome == 'failure'
shell: bash
@@ -27,7 +26,6 @@ runs:
uses: ./.github/workflows/setup
continue-on-error: true
with:
docker_hub_pat: ${{ inputs.docker_hub_pat }}
is_retried: true
- if: steps.setup2.outcome == 'failure'
shell: bash
@@ -36,5 +34,4 @@ runs:
if: steps.setup2.outcome == 'failure'
uses: ./.github/workflows/setup
with:
docker_hub_pat: ${{ inputs.docker_hub_pat }}
is_retried: true
.github/workflows/setup/action.yaml
+10 -17
View File
@@ -1,10 +1,6 @@
name: 'openpilot env setup'
inputs:
docker_hub_pat:
description: 'Auth token for Docker Hub, required for BuildJet jobs'
required: true
default: ''
is_retried:
description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
required: false
@@ -20,23 +16,20 @@ runs:
echo "You should not run this action directly. Use setup-with-retry instead"
exit 1
- shell: bash
name: No retries!
run: |
if [ "${{ github.run_attempt }}" -gt 1 ]; then
echo -e "\033[0;31m##################################################"
echo -e "\033[0;31m Retries not allowed! Fix the flaky test! "
echo -e "\033[0;31m##################################################\033[0m"
exit 1
fi
# do this after checkout to ensure our custom LFS config is used to pull from GitLab
- shell: bash
run: git lfs pull
# on BuildJet runners, must be logged into DockerHub to avoid rate limiting
# https://buildjet.com/for-github-actions/docs/guides/docker
- shell: bash
if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
run: |
echo "Need to set the Docker Hub PAT secret as an input to this action"
exit 1
- name: Login to Docker Hub
if: contains(runner.name, 'buildjet')
shell: bash
run: |
docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
# build cache
- id: date
shell: bash
.github/workflows/stale.yaml
+3 -3
View File
@@ -5,8 +5,8 @@ on:
workflow_dispatch:
env:
DAYS_BEFORE_PR_CLOSE: 3
DAYS_BEFORE_PR_STALE: 14
DAYS_BEFORE_PR_CLOSE: 2
DAYS_BEFORE_PR_STALE: 9
jobs:
stale:
@@ -21,7 +21,7 @@ jobs:
close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
stale-pr-label: stale
delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
.github/workflows/tools_tests.yaml
-109
View File
@@ -1,109 +0,0 @@
name: tools
on:
push:
branches:
- master
pull_request:
workflow_call:
inputs:
run_number:
default: '1'
required: true
type: string
concurrency:
group: tools-tests-ci-run-${{ 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
env:
BASE_IMAGE: openpilot-base
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 $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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/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
jobs:
simulator_driving:
name: simulator driving
runs-on: ubuntu-latest
timeout-minutes: 20
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 bridge test
run: |
${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
source selfdrive/test/setup_xvfb.sh && \
source selfdrive/test/setup_vsound.sh && \
CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
test_compatibility:
name: test 20.04 + 3.11
runs-on: ubuntu-20.04
steps:
- uses: actions/checkout@v4
with:
submodules: true
- name: Installing ubuntu dependencies
run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
- name: Installing python
uses: actions/setup-python@v5
with:
python-version: '3.11.4'
- name: Installing pip
run: pip install pip==24.0
- name: Installing uv
run: pip install uv
- name: git LFS
run: git lfs pull
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
- name: Getting scons cache
uses: 'actions/cache@v4'
with:
path: /tmp/scons_cache
key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
restore-keys: |
scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
scons-${{ runner.arch }}-ubuntu2004
- name: Building openpilot
run: uv run scons -u -j$(nproc)
- name: Saving scons cache
uses: actions/cache/save@v4
if: github.ref == 'refs/heads/master'
with:
path: /tmp/scons_cache
key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
devcontainer:
name: devcontainer
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Use local image for testing devcontainer with latest base image
run: |
echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
- name: Setup Dev Container CLI
run: npm install -g @devcontainers/cli
- name: Build dev container image
run: ./scripts/retry.sh devcontainer build --workspace-folder .
- name: Run dev container
run: |
mkdir -p /tmp/devcontainer_scons_cache/
cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
devcontainer up --workspace-folder .
- name: Test environment
run: |
devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
devcontainer exec --workspace-folder . pip3 install pip-install-test
devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
devcontainer exec --workspace-folder . sudo touch /root/test.txt
.github/workflows/ui_preview.yaml
+161
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@@ -0,0 +1,161 @@
name: "ui preview"
on:
push:
branches:
- master
pull_request_target:
types: [assigned, opened, synchronize, reopened, edited]
branches:
- 'master'
paths:
- 'selfdrive/ui/**'
workflow_dispatch:
env:
UI_JOB_NAME: "Create UI Report"
REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
jobs:
preview:
if: github.repository == 'commaai/openpilot'
name: preview
runs-on: ubuntu-latest
timeout-minutes: 20
permissions:
contents: read
pull-requests: write
actions: read
steps:
- name: Waiting for ui generation to start
run: sleep 30
- name: Waiting for ui generation to end
uses: lewagon/wait-on-check-action@v1.3.4
with:
ref: ${{ env.SHA }}
check-name: ${{ env.UI_JOB_NAME }}
repo-token: ${{ secrets.GITHUB_TOKEN }}
allowed-conclusions: success
wait-interval: 20
- name: Getting workflow run ID
id: get_run_id
run: |
echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
- name: Getting proposed ui
id: download-artifact
uses: dawidd6/action-download-artifact@v6
with:
github_token: ${{ secrets.GITHUB_TOKEN }}
run_id: ${{ steps.get_run_id.outputs.run_id }}
search_artifacts: true
name: report-1-${{ env.REPORT_NAME }}
path: ${{ github.workspace }}/pr_ui
- name: Getting master ui
uses: actions/checkout@v4
with:
repository: commaai/ci-artifacts
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
path: ${{ github.workspace }}/master_ui
ref: openpilot_master_ui
- name: Saving new master ui
if: github.ref == 'refs/heads/master' && github.event_name == 'push'
working-directory: ${{ github.workspace }}/master_ui
run: |
git checkout --orphan=new_master_ui
git rm -rf *
git branch -D openpilot_master_ui
git branch -m openpilot_master_ui
git config user.name "GitHub Actions Bot"
git config user.email "<>"
mv ${{ github.workspace }}/pr_ui/*.png .
git add .
git commit -m "screenshots for commit ${{ env.SHA }}"
git push origin openpilot_master_ui --force
- name: Finding diff
if: github.event_name == 'pull_request_target'
id: find_diff
run: >-
sudo apt-get install -y imagemagick
scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
A=($scenes)
DIFF=""
TABLE="<details><summary>All Screenshots</summary>"
TABLE="${TABLE}<table>"
for ((i=0; i<${#A[*]}; i=i+1));
do
if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
convert -delay 100 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
mv ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_master_ref.png
DIFF="${DIFF}<details open>"
DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{red}\\text{DIFFERENT}}\$\$</summary>"
DIFF="${DIFF}<table>"
DIFF="${DIFF}<tr>"
DIFF="${DIFF} <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
DIFF="${DIFF} <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
DIFF="${DIFF}</tr>"
DIFF="${DIFF}<tr>"
DIFF="${DIFF} <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
DIFF="${DIFF} <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
DIFF="${DIFF}</tr>"
DIFF="${DIFF}</table>"
DIFF="${DIFF}</details>"
else
rm -f ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png
fi
INDEX=$(($i % 2))
if [[ $INDEX -eq 0 ]]; then
TABLE="${TABLE}<tr>"
fi
TABLE="${TABLE} <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
TABLE="${TABLE}</tr>"
fi
done
TABLE="${TABLE}</table></details>"
echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
- name: Saving proposed ui
if: github.event_name == 'pull_request_target'
working-directory: ${{ github.workspace }}/master_ui
run: |
git config user.name "GitHub Actions Bot"
git config user.email "<>"
git checkout --orphan=${{ env.BRANCH_NAME }}
git rm -rf *
mv ${{ github.workspace }}/pr_ui/* .
git add .
git commit -m "screenshots for PR #${{ github.event.number }}"
git push origin ${{ env.BRANCH_NAME }} --force
- name: Comment Screenshots on PR
if: github.event_name == 'pull_request_target'
uses: thollander/actions-comment-pull-request@v2
with:
message: |
<!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
## UI Preview
${{ steps.find_diff.outputs.DIFF }}
comment_tag: run_id_screenshots
pr_number: ${{ github.event.number }}
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}