mirror of
https://jihulab.com/mr-one/openpilot.git
synced 2026-10-27 21:13:42 +08:00
Sync: commaai/openpilot:master → sunnypilot/sunnypilot:master (#1973)
This commit is contained in:
Jason Wen
@@ -0,0 +1,91 @@
|
||||
name: "PR review"
|
||||
on:
|
||||
pull_request_target:
|
||||
types: [ opened, reopened, synchronize, edited ]
|
||||
|
||||
jobs:
|
||||
labeler:
|
||||
name: review
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
issues: write
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v7
|
||||
with:
|
||||
submodules: false
|
||||
|
||||
# Label PRs
|
||||
- uses: actions/labeler@v6
|
||||
with:
|
||||
dot: true
|
||||
configuration-path: .github/labeler.yaml
|
||||
|
||||
# Check PR target branch
|
||||
- name: check branch
|
||||
uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
with:
|
||||
target: /^(?!master$).*/
|
||||
exclude: /sunnypilot:.*/
|
||||
change-to: ${{ github.base_ref }}
|
||||
already-exists-action: close_this
|
||||
already-exists-comment: "Your PR should be made against the `master` branch"
|
||||
|
||||
update-pr-labels:
|
||||
name: Update fork's PR Labels
|
||||
runs-on: ubuntu-latest
|
||||
if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
|
||||
env:
|
||||
PR_LABEL: 'dev'
|
||||
TRUST_FORK_PR_LABEL: 'trust-fork-pr'
|
||||
steps:
|
||||
- name: Check if PR has dev label
|
||||
id: check-labels
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
script: |
|
||||
const prNumber = context.payload.pull_request.number;
|
||||
const { data: labels } = await github.rest.issues.listLabelsOnIssue({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: prNumber
|
||||
});
|
||||
|
||||
const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
|
||||
const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
|
||||
|
||||
console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
|
||||
console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
|
||||
|
||||
core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
|
||||
core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
|
||||
|
||||
- name: Remove trust-fork-pr label if present
|
||||
if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
script: |
|
||||
const prNumber = context.payload.pull_request.number;
|
||||
|
||||
await github.rest.issues.removeLabel({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: prNumber,
|
||||
name: process.env.TRUST_FORK_PR_LABEL
|
||||
});
|
||||
|
||||
console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
|
||||
|
||||
// Add a comment to the PR
|
||||
await github.rest.issues.createComment({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: prNumber,
|
||||
body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
|
||||
});
|
||||
@@ -0,0 +1,166 @@
|
||||
name: Build and push all tinygrad models
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
set_min_version:
|
||||
description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
|
||||
required: true
|
||||
type: string
|
||||
target_hardware:
|
||||
description: 'Hardware target to compile for (qcom or chestnut)'
|
||||
required: true
|
||||
type: choice
|
||||
default: 'qcom'
|
||||
options:
|
||||
- qcom
|
||||
- chestnut
|
||||
hf_repo:
|
||||
description: 'Hugging Face dataset repository'
|
||||
required: false
|
||||
type: string
|
||||
default: 'sunnypilot/sunnypilot_models_v1'
|
||||
|
||||
jobs:
|
||||
setup:
|
||||
runs-on: ubuntu-latest
|
||||
outputs:
|
||||
json_version: ${{ steps.get-json.outputs.json_version }}
|
||||
recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
|
||||
json_file: ${{ steps.get-json.outputs.json_file }}
|
||||
model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
|
||||
tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
|
||||
steps:
|
||||
- name: Checkout sunnypilot repo
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/sunnypilot
|
||||
path: sunnypilot
|
||||
submodules: recursive
|
||||
|
||||
- name: Get tinygrad_repo ref
|
||||
id: get-tinygrad-ref
|
||||
run: |
|
||||
cd sunnypilot
|
||||
export PYTHONPATH=$(pwd)
|
||||
ref=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
|
||||
echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
|
||||
echo "tinygrad_ref is $ref"
|
||||
|
||||
- name: Checkout docs repo (sunnypilot-models, gh-pages)
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/sunnypilot-models
|
||||
ref: gh-pages
|
||||
path: docs
|
||||
ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
|
||||
|
||||
- name: Get next JSON version to use (from GitHub docs repo)
|
||||
id: get-json
|
||||
run: |
|
||||
cd docs/docs
|
||||
PREFIX="driving_models_${{ inputs.target_hardware == 'chestnut' && 'chestnut_' || '' }}v"
|
||||
latest=$(ls ${PREFIX}*.json | sed -E "s/${PREFIX}([0-9]+)\.json/\1/" | sort -n | tail -1)
|
||||
next=$((latest+1))
|
||||
json_file="${PREFIX}${next}.json"
|
||||
cp "${PREFIX}${latest}.json" "$json_file"
|
||||
echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
|
||||
echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
|
||||
echo "SRC_JSON_FILE=docs/docs/${PREFIX}${latest}.json" >> $GITHUB_ENV
|
||||
|
||||
- name: Extract tinygrad models
|
||||
id: set-matrix
|
||||
working-directory: docs/docs
|
||||
run: |
|
||||
jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
|
||||
echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Get next recompiled dir number
|
||||
id: create-recompiled-dir
|
||||
env:
|
||||
HF_REPO: ${{ github.event.inputs.hf_repo }}
|
||||
run: |
|
||||
pip install huggingface_hub
|
||||
recompiled_dir=$(python3 -c "
|
||||
from huggingface_hub import HfApi
|
||||
import re, sys
|
||||
api = HfApi()
|
||||
files = api.list_repo_files(repo_id=sys.argv[1], repo_type='dataset')
|
||||
dirs = [re.search(r'models/recompiled([0-9]+)', f) for f in files]
|
||||
nums = [int(m.group(1)) for m in dirs if m]
|
||||
print(max(nums) + 1)
|
||||
" "$HF_REPO")
|
||||
echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Push new JSON to GitHub docs repo
|
||||
run: |
|
||||
cd docs
|
||||
git pull origin gh-pages
|
||||
git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
|
||||
git config --global user.name "GitHub Action"
|
||||
git config --global user.email "action@github.com"
|
||||
git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
|
||||
git push origin gh-pages
|
||||
|
||||
get_and_build:
|
||||
needs: [setup]
|
||||
strategy:
|
||||
matrix:
|
||||
model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
|
||||
fail-fast: false
|
||||
uses: ./.github/workflows/build-single-tinygrad-model.yaml
|
||||
with:
|
||||
upstream_branch: ${{ matrix.model.ref }}
|
||||
custom_name: ${{ matrix.model.display_name }}
|
||||
is_20hz: ${{ matrix.model.is_20hz }}
|
||||
recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
|
||||
json_version: ${{ needs.setup.outputs.json_version }}
|
||||
target_hardware: ${{ github.event.inputs.target_hardware }}
|
||||
hf_repo: ${{ github.event.inputs.hf_repo }}
|
||||
set_min_version: ${{ github.event.inputs.set_min_version }}
|
||||
tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
|
||||
secrets: inherit
|
||||
|
||||
retry_failed_models:
|
||||
needs: [setup, get_and_build]
|
||||
runs-on: ubuntu-latest
|
||||
if: ${{ !cancelled() && needs.setup.result == 'success' && (needs.get_and_build.result == 'success' || needs.get_and_build.result == 'failure') }}
|
||||
outputs:
|
||||
retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
|
||||
steps:
|
||||
- uses: actions/download-artifact@v4
|
||||
with:
|
||||
pattern: artifact-name-*
|
||||
path: output
|
||||
continue-on-error: true
|
||||
|
||||
- id: set-retry-matrix
|
||||
run: |
|
||||
echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
|
||||
built=(); while IFS= read -r line; do [ -n "$line" ] && built+=("$line"); done < <(
|
||||
find output -maxdepth 1 -name 'artifact-name-*' -printf "%f\n" 2>/dev/null | sed -E 's/^artifact-name-//' | awk '{gsub(/^ +| +$/, ""); print}'
|
||||
)
|
||||
jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
|
||||
'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
|
||||
echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
|
||||
|
||||
retry_get_and_build:
|
||||
needs: [setup, get_and_build, retry_failed_models]
|
||||
if: ${{ !cancelled() && needs.retry_failed_models.result == 'success' && needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '' }}
|
||||
strategy:
|
||||
matrix:
|
||||
model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
|
||||
fail-fast: false
|
||||
uses: ./.github/workflows/build-single-tinygrad-model.yaml
|
||||
with:
|
||||
upstream_branch: ${{ matrix.model.ref }}
|
||||
custom_name: ${{ matrix.model.display_name }}
|
||||
is_20hz: ${{ matrix.model.is_20hz }}
|
||||
recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
|
||||
json_version: ${{ needs.setup.outputs.json_version }}
|
||||
target_hardware: ${{ github.event.inputs.target_hardware }}
|
||||
artifact_suffix: -retry
|
||||
hf_repo: ${{ github.event.inputs.hf_repo }}
|
||||
set_min_version: ${{ github.event.inputs.set_min_version }}
|
||||
tinygrad_ref: ${{ needs.setup.outputs.tinygrad_ref }}
|
||||
secrets: inherit
|
||||
@@ -0,0 +1,501 @@
|
||||
name: Build default models
|
||||
|
||||
on:
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
target:
|
||||
description: 'Model target to build'
|
||||
required: true
|
||||
type: choice
|
||||
options:
|
||||
- small
|
||||
- big
|
||||
- dm
|
||||
workflow_call:
|
||||
inputs:
|
||||
target:
|
||||
description: 'Model target to build (small, big, or dm)'
|
||||
required: true
|
||||
type: string
|
||||
|
||||
concurrency:
|
||||
group: build-default-models-${{ inputs.target }}
|
||||
cancel-in-progress: false
|
||||
|
||||
env:
|
||||
HF_REPO: sunnypilot/sunnypilot_models_v1
|
||||
|
||||
jobs:
|
||||
resolve:
|
||||
runs-on: ubuntu-24.04
|
||||
outputs:
|
||||
model_name: ${{ steps.resolve.outputs.model_name }}
|
||||
onnx_ref: ${{ steps.resolve.outputs.onnx_ref }}
|
||||
onnx_path: ${{ steps.resolve.outputs.onnx_path }}
|
||||
hf_defaults_path: ${{ steps.resolve.outputs.hf_defaults_path }}
|
||||
tinygrad_ref: ${{ steps.resolve.outputs.tinygrad_ref }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: recursive
|
||||
|
||||
- id: resolve
|
||||
run: |
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
|
||||
if [ "${{ inputs.target }}" = "big" ]; then
|
||||
NAME=$(python3 -c "from openpilot.sunnypilot.models.model_name import DEFAULT_BIG_MODEL; print(DEFAULT_BIG_MODEL)")
|
||||
ONNX_PATH="openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"
|
||||
HF_DEFAULTS_PATH="models/defaults/big"
|
||||
elif [ "${{ inputs.target }}" = "dm" ]; then
|
||||
ONNX_PATH="openpilot/selfdrive/modeld/models/dmonitoring_model.onnx"
|
||||
HF_DEFAULTS_PATH="models/defaults/dm"
|
||||
NAME="dmonitoring_model ($(git log -1 --format=%cd --date=format:'%B %d, %Y' -- "$ONNX_PATH"))"
|
||||
else
|
||||
NAME=$(python3 -c "from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL; print(DEFAULT_MODEL)")
|
||||
ONNX_PATH="openpilot/selfdrive/modeld/models/driving_supercombo.onnx"
|
||||
HF_DEFAULTS_PATH="models/defaults/small"
|
||||
fi
|
||||
|
||||
ONNX_REF=$(git log -1 --format='%H' -- "$ONNX_PATH")
|
||||
TINYGRAD_REF=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
|
||||
if [ -z "$TINYGRAD_REF" ]; then
|
||||
echo "::error::Failed to resolve tinygrad ref"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "model_name=${NAME}" >> $GITHUB_OUTPUT
|
||||
echo "onnx_ref=${ONNX_REF}" >> $GITHUB_OUTPUT
|
||||
echo "onnx_path=${ONNX_PATH}" >> $GITHUB_OUTPUT
|
||||
echo "hf_defaults_path=${HF_DEFAULTS_PATH}" >> $GITHUB_OUTPUT
|
||||
echo "tinygrad_ref=${TINYGRAD_REF}" >> $GITHUB_OUTPUT
|
||||
|
||||
build_small_model:
|
||||
needs: resolve
|
||||
if: ${{ inputs.target == 'small' }}
|
||||
runs-on: [self-hosted, tici]
|
||||
env:
|
||||
SMALL_ONNX: openpilot/selfdrive/modeld/models/driving_supercombo.onnx
|
||||
SMALL_PKL: openpilot/selfdrive/modeld/models/driving_tinygrad.pkl
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: recursive
|
||||
|
||||
- name: Pull ONNX via LFS
|
||||
run: git lfs pull -I "${{ env.SMALL_ONNX }}"
|
||||
|
||||
- name: Set environment variables
|
||||
run: |
|
||||
source /etc/profile
|
||||
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
|
||||
export UV_PYTHON_PREFERENCE=managed
|
||||
export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
|
||||
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
||||
uv sync --frozen
|
||||
printenv >> $GITHUB_ENV
|
||||
|
||||
- name: Disable powersave
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
|
||||
|
||||
- name: Compile small model with stock compiler
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
|
||||
|
||||
MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
|
||||
CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
|
||||
FRAME_SKIP=$(python3 -c "from openpilot.selfdrive.modeld.constants import ModelConstants as MC; print(MC.MODEL_RUN_FREQ // MC.MODEL_CONTEXT_FREQ)")
|
||||
|
||||
TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
|
||||
|
||||
env ${TG_FLAGS} python3 \
|
||||
${{ github.workspace }}/openpilot/selfdrive/modeld/compile_modeld.py \
|
||||
--onnx ${{ github.workspace }}/${{ env.SMALL_ONNX }} \
|
||||
--model-size $MODEL_SIZE \
|
||||
--camera-resolutions $CAMERA_RES \
|
||||
--frame-skip $FRAME_SKIP \
|
||||
--output ${{ github.workspace }}/${{ env.SMALL_PKL }}
|
||||
|
||||
- name: Chunk small pkl
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
python3 -c "
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_targets
|
||||
import os
|
||||
pkl = '${{ github.workspace }}/${{ env.SMALL_PKL }}'
|
||||
size = os.path.getsize(pkl)
|
||||
targets = get_chunk_targets(pkl, size)
|
||||
chunk_file(pkl, targets)
|
||||
print(f'Chunked into {len(targets)} files')
|
||||
"
|
||||
|
||||
- name: Prepare output
|
||||
env:
|
||||
MODEL_NAME: ${{ needs.resolve.outputs.model_name }}
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
|
||||
OUTPUT_DIR="${{ github.workspace }}/small_output"
|
||||
PKL_BASE="driving_tinygrad.pkl"
|
||||
mkdir -p "$OUTPUT_DIR"
|
||||
|
||||
cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
|
||||
cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
|
||||
|
||||
python3 "${{ github.workspace }}/release/ci/model_generator.py" \
|
||||
--model-dir "$MODELS_DIR" \
|
||||
--output-dir "$OUTPUT_DIR" \
|
||||
--custom-name "$MODEL_NAME" \
|
||||
--upstream-branch "${{ needs.resolve.outputs.onnx_ref }}"
|
||||
|
||||
echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"
|
||||
|
||||
- name: Upload small model artifact
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: model-${{ needs.resolve.outputs.model_name }}-${{ github.run_number }}
|
||||
path: ${{ github.workspace }}/small_output/
|
||||
|
||||
- name: Upload artifact name file
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: artifact-name-${{ needs.resolve.outputs.model_name }}
|
||||
path: ${{ github.workspace }}/small_output/artifact_name.txt
|
||||
|
||||
- name: Re-enable powersave
|
||||
if: always()
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
|
||||
|
||||
build_big_model:
|
||||
needs: resolve
|
||||
if: ${{ inputs.target == 'big' }}
|
||||
runs-on: [self-hosted, chestnut]
|
||||
env:
|
||||
BIG_ONNX: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
|
||||
BIG_PKL: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: recursive
|
||||
|
||||
- name: Pull big ONNX via LFS
|
||||
run: git lfs pull -I "${{ env.BIG_ONNX }}"
|
||||
|
||||
- name: Set environment variables
|
||||
run: |
|
||||
source /etc/profile
|
||||
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
|
||||
export UV_PYTHON_PREFERENCE=managed
|
||||
export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
|
||||
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
||||
uv sync --frozen
|
||||
printenv >> $GITHUB_ENV
|
||||
|
||||
- name: Disable powersave
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
|
||||
|
||||
- name: Wait for chestnut PCIe link
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
|
||||
python3 -c "
|
||||
import time
|
||||
from openpilot.system.hardware.chestnut.flash import link_up
|
||||
for i in range(10):
|
||||
if link_up():
|
||||
print(f'PCIe link up after {i+1} attempt(s)')
|
||||
break
|
||||
time.sleep(1)
|
||||
else:
|
||||
raise RuntimeError('Chestnut PCIe link not ready after 10 attempts')
|
||||
"
|
||||
|
||||
- name: Compile big model with stock compiler
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
|
||||
|
||||
MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
|
||||
CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
|
||||
FRAME_SKIP=$(python3 -c "from openpilot.selfdrive.modeld.constants import ModelConstants as MC; print(MC.MODEL_RUN_FREQ // MC.MODEL_CONTEXT_FREQ)")
|
||||
|
||||
TG_FLAGS="DEBUG=2 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
|
||||
|
||||
env ${TG_FLAGS} python3 \
|
||||
${{ github.workspace }}/openpilot/selfdrive/modeld/compile_modeld.py \
|
||||
--onnx ${{ github.workspace }}/${{ env.BIG_ONNX }} \
|
||||
--model-size $MODEL_SIZE \
|
||||
--camera-resolutions $CAMERA_RES \
|
||||
--frame-skip $FRAME_SKIP \
|
||||
--output ${{ github.workspace }}/${{ env.BIG_PKL }}
|
||||
|
||||
- name: Chunk big pkl
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
python3 -c "
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_targets
|
||||
import os
|
||||
pkl = '${{ github.workspace }}/${{ env.BIG_PKL }}'
|
||||
size = os.path.getsize(pkl)
|
||||
targets = get_chunk_targets(pkl, size)
|
||||
chunk_file(pkl, targets)
|
||||
print(f'Chunked into {len(targets)} files')
|
||||
"
|
||||
|
||||
- name: Prepare output
|
||||
env:
|
||||
MODEL_NAME: ${{ needs.resolve.outputs.model_name }}
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
MODELS_DIR="${{ github.workspace }}/openpilot/selfdrive/modeld/models"
|
||||
OUTPUT_DIR="${{ github.workspace }}/big_output"
|
||||
PKL_BASE="big_driving_tinygrad.pkl"
|
||||
mkdir -p "$OUTPUT_DIR"
|
||||
|
||||
cp "$MODELS_DIR/${PKL_BASE}".chunk* "$OUTPUT_DIR/"
|
||||
cp "$MODELS_DIR/${PKL_BASE}.chunkmanifest" "$OUTPUT_DIR/"
|
||||
|
||||
python3 "${{ github.workspace }}/release/ci/model_generator.py" \
|
||||
--model-dir "$MODELS_DIR" \
|
||||
--output-dir "$OUTPUT_DIR" \
|
||||
--custom-name "$MODEL_NAME" \
|
||||
--upstream-branch "${{ needs.resolve.outputs.onnx_ref }}"
|
||||
|
||||
echo "model-${MODEL_NAME}-${{ github.run_number }}" > "$OUTPUT_DIR/artifact_name.txt"
|
||||
|
||||
- name: Upload big model artifact
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: model-${{ needs.resolve.outputs.model_name }}-${{ github.run_number }}
|
||||
path: ${{ github.workspace }}/big_output/
|
||||
|
||||
- name: Upload artifact name file
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: artifact-name-${{ needs.resolve.outputs.model_name }}
|
||||
path: ${{ github.workspace }}/big_output/artifact_name.txt
|
||||
|
||||
- name: Re-enable powersave
|
||||
if: always()
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
|
||||
|
||||
upload_defaults:
|
||||
needs: [ resolve, build_small_model, build_big_model, build_dm_model ]
|
||||
if: |
|
||||
${{
|
||||
!cancelled() &&
|
||||
(inputs.target == 'big' && needs.build_big_model.result == 'success' ||
|
||||
inputs.target == 'small' && needs.build_small_model.result == 'success' ||
|
||||
inputs.target == 'dm' && needs.build_dm_model.result == 'success')
|
||||
}}
|
||||
runs-on: ubuntu-24.04
|
||||
permissions:
|
||||
id-token: write
|
||||
contents: write
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Pull ONNX via LFS
|
||||
run: git lfs pull -I "${{ needs.resolve.outputs.onnx_path }}"
|
||||
|
||||
- name: Install huggingface_hub
|
||||
run: pip install --upgrade "huggingface_hub>=0.22.0"
|
||||
|
||||
- name: Download artifact name
|
||||
if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: artifact-name-${{ needs.resolve.outputs.model_name }}
|
||||
path: artifact_name
|
||||
|
||||
- name: Read artifact name
|
||||
if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
|
||||
id: artifact
|
||||
run: |
|
||||
ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
|
||||
echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Download model artifact
|
||||
if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: ${{ steps.artifact.outputs.artifact_name }}
|
||||
path: output
|
||||
|
||||
- name: Upload model to HF
|
||||
if: ${{ inputs.target == 'small' || inputs.target == 'big' }}
|
||||
env:
|
||||
HF_OIDC_RESOURCE: datasets/${{ env.HF_REPO }}
|
||||
ARTIFACT_NAME: ${{ steps.artifact.outputs.artifact_name }}
|
||||
run: |
|
||||
rm -f output/artifact_name.txt
|
||||
export PYTHONPATH=$(pwd)
|
||||
python3 release/ci/upload_default_model.py \
|
||||
--hf-repo "${{ env.HF_REPO }}" \
|
||||
--hf-defaults-path "${{ needs.resolve.outputs.hf_defaults_path }}" \
|
||||
--artifact-name "$ARTIFACT_NAME" \
|
||||
--model-dir output \
|
||||
--onnx-path "${{ needs.resolve.outputs.onnx_path }}" \
|
||||
--onnx-ref "${{ needs.resolve.outputs.onnx_ref }}" \
|
||||
--model-name "${{ needs.resolve.outputs.model_name }}" \
|
||||
--tinygrad-ref "${{ needs.resolve.outputs.tinygrad_ref }}" \
|
||||
--run-number "${{ github.run_number }}"
|
||||
|
||||
- name: Download DM artifact
|
||||
if: ${{ inputs.target == 'dm' }}
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: dm-model-${{ github.run_number }}
|
||||
path: dm_output
|
||||
|
||||
- name: Generate DM metadata and upload to HF
|
||||
if: ${{ inputs.target == 'dm' }}
|
||||
env:
|
||||
HF_OIDC_RESOURCE: datasets/${{ env.HF_REPO }}
|
||||
run: |
|
||||
export PYTHONPATH=$(pwd)
|
||||
python3 -c "
|
||||
import json, hashlib
|
||||
from pathlib import Path
|
||||
from datetime import datetime, UTC
|
||||
|
||||
dm_dir = Path('dm_output')
|
||||
manifest = list(dm_dir.glob('*.chunkmanifest'))
|
||||
assert manifest, 'No chunkmanifest found'
|
||||
pkl_name = manifest[0].name.removesuffix('.chunkmanifest')
|
||||
num_chunks = int(manifest[0].read_text().strip())
|
||||
|
||||
chunks = []
|
||||
for i in range(num_chunks):
|
||||
chunk = dm_dir / f'{pkl_name}.chunk{i+1:02d}of{num_chunks:02d}'
|
||||
chunks.append({
|
||||
'file_name': chunk.name,
|
||||
'sha256': hashlib.sha256(chunk.read_bytes()).hexdigest()
|
||||
})
|
||||
|
||||
digest = hashlib.sha256()
|
||||
for c in chunks:
|
||||
with open(dm_dir / c['file_name'], 'rb') as f:
|
||||
while block := f.read(1024*1024):
|
||||
digest.update(block)
|
||||
|
||||
metadata = {
|
||||
'bundles': [{
|
||||
'short_name': 'DMMODEL',
|
||||
'display_name': '${{ needs.resolve.outputs.model_name }}',
|
||||
'ref': '${{ needs.resolve.outputs.onnx_ref }}',
|
||||
'runner': 'tinygrad',
|
||||
'build_time': datetime.now(UTC).strftime('%Y-%m-%dT%H:%M:%SZ'),
|
||||
'models': [{
|
||||
'type': 'chunked',
|
||||
'artifact': {
|
||||
'file_name': pkl_name,
|
||||
'download_uri': {'url': '', 'sha256': digest.hexdigest()},
|
||||
'chunks': chunks
|
||||
}
|
||||
}]
|
||||
}]
|
||||
}
|
||||
with open(dm_dir / 'metadata.json', 'w') as f:
|
||||
json.dump(metadata, f, indent=2)
|
||||
print('Generated DM metadata.json')
|
||||
"
|
||||
|
||||
python3 release/ci/upload_default_model.py \
|
||||
--hf-repo "${{ env.HF_REPO }}" \
|
||||
--hf-defaults-path "${{ needs.resolve.outputs.hf_defaults_path }}" \
|
||||
--artifact-name "dm-model-${{ github.run_number }}" \
|
||||
--model-dir dm_output \
|
||||
--onnx-path "${{ needs.resolve.outputs.onnx_path }}" \
|
||||
--onnx-ref "${{ needs.resolve.outputs.onnx_ref }}" \
|
||||
--model-name "${{ needs.resolve.outputs.model_name }}" \
|
||||
--tinygrad-ref "${{ needs.resolve.outputs.tinygrad_ref }}" \
|
||||
--run-number "${{ github.run_number }}"
|
||||
|
||||
build_dm_model:
|
||||
needs: resolve
|
||||
if: ${{ inputs.target == 'dm' }}
|
||||
runs-on: [self-hosted, tici]
|
||||
env:
|
||||
DM_ONNX: openpilot/selfdrive/modeld/models/dmonitoring_model.onnx
|
||||
DM_PKL: openpilot/selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
submodules: recursive
|
||||
|
||||
- name: Pull DM ONNX via LFS
|
||||
run: git lfs pull -I "${{ env.DM_ONNX }}"
|
||||
|
||||
- name: Set environment variables
|
||||
run: |
|
||||
source /etc/profile
|
||||
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
|
||||
export UV_PYTHON_PREFERENCE=managed
|
||||
export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
|
||||
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
||||
uv sync --frozen
|
||||
printenv >> $GITHUB_ENV
|
||||
|
||||
- name: Disable powersave
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
|
||||
|
||||
- name: Compile DM model
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH="${PYTHONPATH}:${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}"
|
||||
|
||||
TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
|
||||
|
||||
taskset -c 7 env ${TG_FLAGS} python3 \
|
||||
${{ github.workspace }}/tinygrad_repo/examples/openpilot/compile3.py \
|
||||
${{ github.workspace }}/${{ env.DM_ONNX }} \
|
||||
${{ github.workspace }}/${{ env.DM_PKL }}
|
||||
|
||||
- name: Chunk DM pkl
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
python3 -c "
|
||||
from openpilot.common.file_chunker import chunk_file, get_chunk_targets
|
||||
import os
|
||||
pkl = '${{ github.workspace }}/${{ env.DM_PKL }}'
|
||||
size = os.path.getsize(pkl)
|
||||
targets = get_chunk_targets(pkl, size)
|
||||
chunk_file(pkl, targets)
|
||||
print(f'Chunked {pkl} into {len(targets)} chunks')
|
||||
"
|
||||
|
||||
- name: Prepare DM output
|
||||
run: |
|
||||
mkdir -p dm_output
|
||||
cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunk* dm_output/
|
||||
cp ${{ github.workspace }}/${{ env.DM_PKL }}.chunkmanifest dm_output/
|
||||
|
||||
- name: Upload DM artifact
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: dm-model-${{ github.run_number }}
|
||||
path: dm_output/
|
||||
|
||||
- name: Re-enable powersave
|
||||
if: always()
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
|
||||
|
||||
@@ -0,0 +1,236 @@
|
||||
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. 1 for recompiled1)'
|
||||
required: true
|
||||
type: string
|
||||
json_version:
|
||||
description: 'driving_models version number to update (e.g. 18 for driving_models_v18.json)'
|
||||
required: true
|
||||
type: string
|
||||
artifact_suffix:
|
||||
description: 'Suffix for artifact name'
|
||||
required: false
|
||||
type: string
|
||||
default: ''
|
||||
is_20hz:
|
||||
description: 'Is this a 20Hz model'
|
||||
required: false
|
||||
type: boolean
|
||||
default: true
|
||||
target_hardware:
|
||||
description: 'Hardware target to compile for (qcom or chestnut)'
|
||||
required: false
|
||||
type: string
|
||||
default: 'qcom'
|
||||
hf_repo:
|
||||
description: 'Hugging Face dataset repository (e.g. sunnypilot/sunnypilot_models_v1)'
|
||||
required: false
|
||||
type: string
|
||||
default: 'sunnypilot/sunnypilot_models_v1'
|
||||
set_min_version:
|
||||
description: 'Minimum selector version'
|
||||
required: false
|
||||
type: string
|
||||
tinygrad_ref:
|
||||
description: 'Tinygrad reference'
|
||||
required: false
|
||||
type: string
|
||||
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
|
||||
is_20hz:
|
||||
description: 'Is this a 20Hz model'
|
||||
required: false
|
||||
type: boolean
|
||||
default: true
|
||||
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
|
||||
model_folder:
|
||||
description: 'Model folder'
|
||||
type: choice
|
||||
default: 'None'
|
||||
options:
|
||||
- None
|
||||
- Master Models
|
||||
- Release Models
|
||||
- 2026 World Models
|
||||
- 2026 Deep RL Models
|
||||
- Custom Merge Models
|
||||
- Other
|
||||
custom_model_folder:
|
||||
description: 'Custom model folder name (if "Other" selected)'
|
||||
required: false
|
||||
type: string
|
||||
generation:
|
||||
description: 'Model generation'
|
||||
required: false
|
||||
type: string
|
||||
version:
|
||||
description: 'Minimum selector version'
|
||||
required: false
|
||||
type: string
|
||||
target_hardware:
|
||||
description: 'Hardware target to compile for'
|
||||
required: false
|
||||
type: choice
|
||||
default: 'qcom'
|
||||
options:
|
||||
- qcom
|
||||
- chestnut
|
||||
hf_repo:
|
||||
description: 'Hugging Face dataset repository'
|
||||
required: false
|
||||
type: string
|
||||
default: 'sunnypilot/sunnypilot_models_v1'
|
||||
env:
|
||||
RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
|
||||
JSON_FILE: docs/docs/driving_models_${{ inputs.target_hardware == 'chestnut' && 'chestnut_v' || 'v' }}${{ 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: ${{ inputs.is_20hz }}
|
||||
artifact_suffix: ${{ inputs.artifact_suffix }}
|
||||
target_hardware: ${{ inputs.target_hardware }}
|
||||
secrets: inherit
|
||||
|
||||
publish_model:
|
||||
if: ${{ !cancelled() && needs.build_model.result == 'success' }}
|
||||
concurrency:
|
||||
group: hf-push-${{ inputs.recompiled_dir }}
|
||||
cancel-in-progress: false
|
||||
needs: build_model
|
||||
runs-on: ubuntu-latest
|
||||
permissions:
|
||||
id-token: write
|
||||
contents: write
|
||||
steps:
|
||||
- name: Checkout docs repo
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/sunnypilot-models
|
||||
ref: gh-pages
|
||||
path: docs
|
||||
ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
|
||||
|
||||
- name: Install huggingface_hub
|
||||
run: pip install --upgrade "huggingface_hub>=0.22.0"
|
||||
|
||||
- name: Validate hf_repo and JSON version
|
||||
env:
|
||||
HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
|
||||
run: |
|
||||
if [ ! -f "$JSON_FILE" ]; then
|
||||
echo "JSON file $JSON_FILE does not exist!"
|
||||
exit 1
|
||||
fi
|
||||
python3 -c "
|
||||
import sys
|
||||
from huggingface_hub import HfApi
|
||||
try:
|
||||
api = HfApi()
|
||||
api.repo_info(repo_id=sys.argv[1], repo_type='dataset')
|
||||
print(f'Success: Repo {sys.argv[1]} exists.')
|
||||
except Exception as e:
|
||||
print('HF validation failed:', e)
|
||||
sys.exit(1)
|
||||
" "${{ inputs.hf_repo }}"
|
||||
|
||||
- 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: Create models folder
|
||||
env:
|
||||
ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
run: |
|
||||
mkdir -p "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
|
||||
cp -r output/* "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/"
|
||||
rm -f "local_models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/artifact_name.txt"
|
||||
|
||||
- name: Upload to Hugging Face
|
||||
env:
|
||||
HF_OIDC_RESOURCE: datasets/${{ inputs.hf_repo }}
|
||||
ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
|
||||
run: |
|
||||
hf upload ${{ inputs.hf_repo }} \
|
||||
output/ \
|
||||
"models/${RECOMPILED_DIR}/${ARTIFACT_NAME}/" \
|
||||
--repo-type=dataset
|
||||
|
||||
- name: Pull gh-pages
|
||||
run: |
|
||||
cd docs
|
||||
git pull origin gh-pages
|
||||
|
||||
- name: Run json_parser.py to update JSON
|
||||
run: |
|
||||
FOLDER="${{ 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 }}\""
|
||||
[ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
|
||||
[ -n "${{ inputs.tinygrad_ref }}" ] && ARGS="$ARGS --tinygrad-ref \"${{ inputs.tinygrad_ref }}\""
|
||||
eval python3 docs/json_parser.py \
|
||||
--json-path "$JSON_FILE" \
|
||||
--recompiled-dir "local_models/$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 $JSON_FILE) after recompiling model" || echo "No changes to commit"
|
||||
git push origin gh-pages
|
||||
@@ -0,0 +1,97 @@
|
||||
name: cereal validation
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
paths:
|
||||
- 'openpilot/cereal/**'
|
||||
workflow_dispatch:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
default: '1'
|
||||
required: true
|
||||
type: string
|
||||
|
||||
concurrency:
|
||||
group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
|
||||
cancel-in-progress: true
|
||||
|
||||
env:
|
||||
CI: 1
|
||||
|
||||
jobs:
|
||||
validate_cereal_with_upstream:
|
||||
name: Validate cereal with Upstream
|
||||
runs-on: ubuntu-24.04
|
||||
steps:
|
||||
- name: Checkout sunnypilot cereal
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
sparse-checkout: |
|
||||
openpilot/cereal
|
||||
uv.lock
|
||||
submodules: false
|
||||
|
||||
- name: Init sunnypilot opendbc submodule
|
||||
run: git submodule update --init --depth 1 opendbc_repo
|
||||
|
||||
- name: Locate sunnypilot capnp import paths
|
||||
id: locate-sp-capnp
|
||||
run: |
|
||||
SP_IMPORT_ARGS=""
|
||||
SP_CAR_CAPNP=$(find opendbc_repo -maxdepth 4 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
|
||||
if [ -n "$SP_CAR_CAPNP" ]; then
|
||||
SP_IMPORT_ARGS="-I $SP_CAR_CAPNP"
|
||||
echo "Found sunnypilot car.capnp at: $SP_CAR_CAPNP"
|
||||
fi
|
||||
echo "import_args=$SP_IMPORT_ARGS" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Checkout upstream openpilot
|
||||
uses: actions/checkout@v6
|
||||
with:
|
||||
repository: 'commaai/openpilot'
|
||||
path: upstream_openpilot
|
||||
ref: "refs/heads/master"
|
||||
|
||||
- name: Init upstream opendbc submodule
|
||||
working-directory: upstream_openpilot
|
||||
run: git submodule update --init --depth 1 opendbc_repo
|
||||
|
||||
- name: Locate upstream capnp paths
|
||||
id: locate-capnp
|
||||
run: |
|
||||
CEREAL_DIR=$(find upstream_openpilot -maxdepth 4 -name log.capnp -path '*/cereal/log.capnp' -printf '%h\n' -quit)
|
||||
if [ -z "$CEREAL_DIR" ]; then
|
||||
echo "::error::Could not locate cereal/log.capnp in upstream openpilot"
|
||||
exit 1
|
||||
fi
|
||||
echo "cereal_dir=$CEREAL_DIR" >> "$GITHUB_OUTPUT"
|
||||
echo "Found upstream cereal at: $CEREAL_DIR"
|
||||
|
||||
IMPORT_ARGS=""
|
||||
CAR_CAPNP=$(find upstream_openpilot -maxdepth 5 -name car.capnp -path '*/opendbc/car/car.capnp' -printf '%h\n' -quit)
|
||||
if [ -n "$CAR_CAPNP" ]; then
|
||||
IMPORT_ARGS="-I $CAR_CAPNP"
|
||||
echo "Found car.capnp at: $CAR_CAPNP"
|
||||
fi
|
||||
echo "import_args=$IMPORT_ARGS" >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Install pycapnp
|
||||
run: |
|
||||
PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
|
||||
pip install "pycapnp==${PYCAPNP_VER}"
|
||||
|
||||
- name: Generate sunnypilot schema
|
||||
run: |
|
||||
python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
|
||||
-g -f /tmp/sp_schema.json --cereal-dir openpilot/cereal \
|
||||
${{ steps.locate-sp-capnp.outputs.import_args }}
|
||||
|
||||
- name: Validate against upstream
|
||||
run: |
|
||||
python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
|
||||
-r -f /tmp/sp_schema.json --cereal-dir ${{ steps.locate-capnp.outputs.cereal_dir }} \
|
||||
${{ steps.locate-capnp.outputs.import_args }}
|
||||
@@ -0,0 +1,58 @@
|
||||
name: diff report
|
||||
|
||||
on:
|
||||
pull_request_target:
|
||||
types: [opened, synchronize, reopened]
|
||||
|
||||
jobs:
|
||||
comment:
|
||||
name: comment
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 10
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
actions: read
|
||||
steps:
|
||||
- name: Wait for process replay
|
||||
id: wait
|
||||
continue-on-error: true
|
||||
uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
|
||||
with:
|
||||
ref: ${{ github.event.pull_request.head.sha }}
|
||||
check-name: process replay
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
allowed-conclusions: success,failure
|
||||
wait-interval: 20
|
||||
- name: Get tests run ID
|
||||
if: steps.wait.outcome == 'success'
|
||||
id: tests-run
|
||||
env:
|
||||
GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
run: |
|
||||
run_id=$(gh api \
|
||||
"repos/${{ github.repository }}/actions/workflows/tests.yaml/runs?event=pull_request&head_sha=${{ github.event.pull_request.head.sha }}&per_page=1" \
|
||||
--jq '.workflow_runs[0].id // empty')
|
||||
if [ -z "$run_id" ]; then
|
||||
echo "No tests.yaml run found for ${{ github.event.pull_request.head.sha }}" >&2
|
||||
exit 1
|
||||
fi
|
||||
echo "run-id=$run_id" >> "$GITHUB_OUTPUT"
|
||||
- name: Download diff
|
||||
if: steps.wait.outcome == 'success'
|
||||
continue-on-error: true
|
||||
uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
repository: ${{ github.repository }}
|
||||
run-id: ${{ steps.tests-run.outputs.run-id }}
|
||||
name: diff_report_${{ github.event.number }}
|
||||
path: .
|
||||
- name: Comment on PR
|
||||
if: steps.wait.outcome == 'success' && hashFiles('diff_report.txt') != ''
|
||||
uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
|
||||
with:
|
||||
file-path: diff_report.txt
|
||||
comment-tag: diff_report
|
||||
pr-number: ${{ github.event.number }}
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -0,0 +1,69 @@
|
||||
name: docs
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
default: '1'
|
||||
required: true
|
||||
type: string
|
||||
concurrency:
|
||||
group: docs-tests-ci-run-${{ 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:
|
||||
GIT_CONFIG_COUNT: 1
|
||||
GIT_CONFIG_KEY_0: lfs.fetchexclude
|
||||
GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
|
||||
|
||||
jobs:
|
||||
docs:
|
||||
name: build docs
|
||||
runs-on: ubuntu-24.04
|
||||
steps:
|
||||
- uses: commaai/timeout@v1
|
||||
|
||||
- uses: actions/checkout@v7
|
||||
with:
|
||||
submodules: true
|
||||
|
||||
# Build
|
||||
- name: Build docs
|
||||
run: |
|
||||
git lfs pull
|
||||
python docs/serve.py --build
|
||||
|
||||
# Push to docs.comma.ai
|
||||
- uses: actions/checkout@v7
|
||||
if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
|
||||
with:
|
||||
path: openpilot-docs
|
||||
ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
|
||||
repository: sunnypilot/sunnypilot-docs
|
||||
- name: Push
|
||||
if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
|
||||
run: |
|
||||
set -x
|
||||
|
||||
source tools/release/identity.sh
|
||||
|
||||
cd openpilot-docs
|
||||
git checkout --orphan tmp
|
||||
git rm -rf .
|
||||
|
||||
# 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 commit -m "build docs"
|
||||
|
||||
# docs live in different repo to not bloat openpilot's full clone size
|
||||
git push -f origin tmp:gh-pages
|
||||
@@ -0,0 +1,66 @@
|
||||
name: Download HF model chunks
|
||||
description: Resolve and download model chunks from HuggingFace in parallel
|
||||
|
||||
inputs:
|
||||
hf_repo:
|
||||
description: HuggingFace dataset repo
|
||||
required: true
|
||||
models:
|
||||
description: 'JSON array of {hf_path, onnx_hash, canonical} objects'
|
||||
required: true
|
||||
dest_dir:
|
||||
description: Destination directory for downloaded chunks
|
||||
required: true
|
||||
|
||||
runs:
|
||||
using: composite
|
||||
steps:
|
||||
- name: Download model chunks
|
||||
shell: bash
|
||||
env:
|
||||
HF_REPO: ${{ inputs.hf_repo }}
|
||||
MODELS_JSON: ${{ inputs.models }}
|
||||
DEST_DIR: ${{ inputs.dest_dir }}
|
||||
run: |
|
||||
set -eo pipefail
|
||||
DOWNLOAD_LIST=$(mktemp)
|
||||
|
||||
resolve_chunks() {
|
||||
local HF_PATH="$1" ONNX_HASH="$2" CANONICAL="$3" DEST_DIR="$4"
|
||||
local JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_PATH}/default_models.json"
|
||||
local DEFAULTS BUNDLE ARTIFACT BASE_URL NUM_CHUNKS
|
||||
DEFAULTS=$(curl -fsSL "$JSON_URL")
|
||||
BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '.bundles[] | select(.onnx_sha256 == $hash)')
|
||||
ARTIFACT=$(echo "$BUNDLE" | jq -r '.models[0].artifact')
|
||||
BASE_URL=$(echo "$ARTIFACT" | jq -r '.download_uri.url' | sed 's|/[^/]*$||')
|
||||
NUM_CHUNKS=$(echo "$ARTIFACT" | jq -r '.chunks | length')
|
||||
|
||||
mkdir -p "$DEST_DIR"
|
||||
while IFS= read -r CHUNK_NAME; do
|
||||
CHUNK_IDX=$(echo "$CHUNK_NAME" | grep -oP 'chunk\K[0-9]+of[0-9]+' || true)
|
||||
if [ -z "$CHUNK_IDX" ]; then
|
||||
echo "::error::Failed to parse chunk index from: $CHUNK_NAME"
|
||||
return 1
|
||||
fi
|
||||
ENCODED_URL=$(python3 -c "import urllib.parse; print(urllib.parse.quote('${BASE_URL}/${CHUNK_NAME}', safe=':/'))")
|
||||
printf '%s\t%s\n' "$ENCODED_URL" "${DEST_DIR}/${CANONICAL}.chunk${CHUNK_IDX}" >> "$DOWNLOAD_LIST"
|
||||
done < <(echo "$ARTIFACT" | jq -r '.chunks[].file_name')
|
||||
echo "$NUM_CHUNKS" > "${DEST_DIR}/${CANONICAL}.chunkmanifest"
|
||||
}
|
||||
|
||||
echo "$MODELS_JSON" | jq -c '.[]' | while IFS= read -r model; do
|
||||
HF_PATH=$(echo "$model" | jq -r '.hf_path')
|
||||
ONNX_HASH=$(echo "$model" | jq -r '.onnx_hash')
|
||||
CANONICAL=$(echo "$model" | jq -r '.canonical')
|
||||
resolve_chunks "$HF_PATH" "$ONNX_HASH" "$CANONICAL" "$DEST_DIR"
|
||||
done
|
||||
|
||||
TOTAL=$(wc -l < "$DOWNLOAD_LIST")
|
||||
echo "Downloading $TOTAL chunks with 8 parallel connections..."
|
||||
xargs -P8 -d'\n' -I{} bash -c '
|
||||
URL="${1%% *}"
|
||||
DEST="${1#* }"
|
||||
echo "Downloading $(basename "$DEST")"
|
||||
curl -fsSL --retry 3 --retry-delay 5 -o "$DEST" "$URL"
|
||||
' _ {} < "$DOWNLOAD_LIST"
|
||||
rm -f "$DOWNLOAD_LIST"
|
||||
@@ -0,0 +1,96 @@
|
||||
name: jenkins scan
|
||||
|
||||
on:
|
||||
issue_comment:
|
||||
types: [created, edited]
|
||||
|
||||
jobs:
|
||||
cleanup-branches:
|
||||
runs-on: ubuntu-latest
|
||||
permissions:
|
||||
contents: write
|
||||
steps:
|
||||
- name: Delete stale Jenkins branches
|
||||
uses: actions/github-script@v9
|
||||
with:
|
||||
script: |
|
||||
const cutoff = Date.now() - 24 * 60 * 60 * 1000;
|
||||
const prefixes = ['tmp-jenkins', '__jenkins'];
|
||||
|
||||
for await (const response of github.paginate.iterator(github.rest.repos.listBranches, {
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
per_page: 100,
|
||||
})) {
|
||||
for (const branch of response.data) {
|
||||
if (!prefixes.some(p => branch.name.startsWith(p))) continue;
|
||||
|
||||
const { data: commit } = await github.rest.repos.getCommit({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
ref: branch.commit.sha,
|
||||
});
|
||||
|
||||
const commitDate = new Date(commit.commit.committer.date).getTime();
|
||||
if (commitDate < cutoff) {
|
||||
console.log(`Deleting branch: ${branch.name} (last commit: ${commit.commit.committer.date})`);
|
||||
await github.rest.git.deleteRef({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
ref: `heads/${branch.name}`,
|
||||
});
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
scan-comments:
|
||||
runs-on: ubuntu-latest
|
||||
if: ${{ github.event.issue.pull_request }}
|
||||
permissions:
|
||||
contents: write
|
||||
issues: write
|
||||
steps:
|
||||
- name: Check for trigger phrase
|
||||
id: check_comment
|
||||
uses: actions/github-script@v9
|
||||
with:
|
||||
script: |
|
||||
const triggerPhrase = "trigger-jenkins";
|
||||
const comment = context.payload.comment.body;
|
||||
const commenter = context.payload.comment.user.login;
|
||||
|
||||
const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
username: commenter
|
||||
});
|
||||
|
||||
const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
|
||||
|
||||
return (hasWriteAccess && comment.includes(triggerPhrase));
|
||||
result-encoding: json
|
||||
|
||||
- name: Checkout repository
|
||||
if: steps.check_comment.outputs.result == 'true'
|
||||
uses: actions/checkout@v7
|
||||
with:
|
||||
ref: refs/pull/${{ 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 }}
|
||||
|
||||
- name: Delete trigger comment
|
||||
if: steps.check_comment.outputs.result == 'true' && always()
|
||||
uses: actions/github-script@v9
|
||||
with:
|
||||
script: |
|
||||
await github.rest.issues.deleteComment({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
comment_id: context.payload.comment.id,
|
||||
});
|
||||
@@ -0,0 +1,85 @@
|
||||
name: Sync comma's LFS
|
||||
|
||||
env:
|
||||
LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
|
||||
LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
|
||||
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 0 * * *' # Runs at 00:00 UTC every day
|
||||
push:
|
||||
branches:
|
||||
- 'master'
|
||||
pull_request:
|
||||
branches:
|
||||
- 'master'
|
||||
workflow_dispatch: # enables manual triggering
|
||||
inputs:
|
||||
upstream_branch:
|
||||
default: 'master'
|
||||
type: string
|
||||
|
||||
jobs:
|
||||
sync:
|
||||
runs-on: ubuntu-latest
|
||||
# Skip if PR is in draft mode
|
||||
if: (github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)) && !github.event.pull_request.head.repo.fork
|
||||
steps:
|
||||
- name: Checkout Repository
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: 'commaai/openpilot'
|
||||
ref: ${{ inputs.upstream_branch }}
|
||||
|
||||
- name: LFS Fetch
|
||||
run: |
|
||||
git lfs fetch
|
||||
|
||||
- name: Set up Git
|
||||
run: |
|
||||
git config --global user.name 'GitHub Action'
|
||||
git config --global user.email 'action@github.com'
|
||||
|
||||
- name: Set up SSH
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Add GitLab public keys
|
||||
run: |
|
||||
ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
|
||||
|
||||
- name: Ensure branch
|
||||
run: |
|
||||
if git symbolic-ref -q HEAD >/dev/null; then
|
||||
echo "Already on a branch, proceeding with push"
|
||||
else
|
||||
echo "Detached HEAD state detected, creating temporary branch"
|
||||
git checkout -b temp_branch
|
||||
fi
|
||||
|
||||
- name: Update LFS Config
|
||||
run: |
|
||||
echo '[lfs]' > .lfsconfig
|
||||
echo ' url = ${{ env.LFS_URL }}' >> .lfsconfig
|
||||
echo ' pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
|
||||
echo ' locksverify = false' >> .lfsconfig
|
||||
|
||||
- name: Configure LFS transfer settings
|
||||
run: |
|
||||
git config lfs.activitytimeout 300
|
||||
git config lfs.transfer.maxretries 5
|
||||
git config lfs.concurrenttransfers 4
|
||||
|
||||
- name: Push LFS
|
||||
id: sync-and-commit
|
||||
run: |
|
||||
git lfs ls-files -l
|
||||
for attempt in 1 2 3; do
|
||||
echo "Push attempt $attempt..."
|
||||
git lfs push --all origin && exit 0
|
||||
echo "Attempt $attempt failed, retrying in 30s..."
|
||||
sleep 30
|
||||
done
|
||||
echo "All push attempts failed"
|
||||
exit 1
|
||||
@@ -0,0 +1,105 @@
|
||||
name: 'Post to Discourse'
|
||||
description: 'Posts a message to a Discourse topic (existing or new)'
|
||||
|
||||
inputs:
|
||||
discourse-url:
|
||||
description: 'Discourse instance URL (e.g., https://discourse.example.com)'
|
||||
required: true
|
||||
api-key:
|
||||
description: 'Discourse API key'
|
||||
required: true
|
||||
api-username:
|
||||
description: 'Discourse API username'
|
||||
required: true
|
||||
topic-id:
|
||||
description: 'Discourse topic ID to post to (use this OR category-id + title)'
|
||||
required: false
|
||||
category-id:
|
||||
description: 'Category ID for new topic (required if topic-id not provided)'
|
||||
required: false
|
||||
title:
|
||||
description: 'Title for new topic (required if topic-id not provided)'
|
||||
required: false
|
||||
message:
|
||||
description: 'Message content (markdown supported)'
|
||||
required: true
|
||||
|
||||
outputs:
|
||||
post-number:
|
||||
description: 'The post number in the topic'
|
||||
value: ${{ steps.post.outputs.post_number }}
|
||||
post-url:
|
||||
description: 'Direct URL to the post'
|
||||
value: ${{ steps.post.outputs.post_url }}
|
||||
topic-id:
|
||||
description: 'The topic ID (useful when creating a new topic)'
|
||||
value: ${{ steps.post.outputs.topic_id }}
|
||||
|
||||
runs:
|
||||
using: "composite"
|
||||
steps:
|
||||
- name: Post to Discourse
|
||||
id: post
|
||||
shell: bash
|
||||
run: |
|
||||
# Validate inputs
|
||||
if [ -z "${{ inputs.topic-id }}" ] && ([ -z "${{ inputs.category-id }}" ] || [ -z "${{ inputs.title }}" ]); then
|
||||
echo "❌ Error: Must provide either topic-id OR both category-id and title"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ -n "${{ inputs.topic-id }}" ] && ([ -n "${{ inputs.category-id }}" ] || [ -n "${{ inputs.title }}" ]); then
|
||||
echo "⚠️ Warning: Both topic-id and category-id/title provided. Will post to existing topic."
|
||||
fi
|
||||
|
||||
# Determine if creating new topic or posting to existing
|
||||
if [ -n "${{ inputs.topic-id }}" ]; then
|
||||
echo "📝 Posting to existing topic ID: ${{ inputs.topic-id }}"
|
||||
|
||||
# Create JSON payload for posting to existing topic
|
||||
PAYLOAD=$(jq -n \
|
||||
--arg content '${{ inputs.message }}' \
|
||||
--arg topic_id "${{ inputs.topic-id }}" \
|
||||
'{topic_id: $topic_id, raw: $content}')
|
||||
else
|
||||
echo "✨ Creating new topic: ${{ inputs.title }}"
|
||||
|
||||
# Create JSON payload for new topic
|
||||
PAYLOAD=$(jq -n \
|
||||
--arg content '${{ inputs.message }}' \
|
||||
--arg title "${{ inputs.title }}" \
|
||||
--arg category "${{ inputs.category-id }}" \
|
||||
'{title: $title, category: ($category | tonumber), raw: $content}')
|
||||
fi
|
||||
|
||||
# Post to Discourse
|
||||
RESPONSE=$(curl -s -w "\n%{http_code}" \
|
||||
-X POST "${{ inputs.discourse-url }}/posts.json" \
|
||||
-H "Content-Type: application/json" \
|
||||
-H "Api-Key: ${{ inputs.api-key }}" \
|
||||
-H "Api-Username: ${{ inputs.api-username }}" \
|
||||
-d "$PAYLOAD")
|
||||
|
||||
HTTP_CODE=$(echo "$RESPONSE" | tail -n1)
|
||||
BODY=$(echo "$RESPONSE" | sed '$d')
|
||||
|
||||
if [ "$HTTP_CODE" -ge 200 ] && [ "$HTTP_CODE" -lt 300 ]; then
|
||||
echo "✅ Successfully posted to Discourse!"
|
||||
|
||||
POST_NUMBER=$(echo "$BODY" | jq -r '.post_number // "unknown"')
|
||||
TOPIC_ID=$(echo "$BODY" | jq -r '.topic_id // "${{ inputs.topic-id }}"')
|
||||
POST_URL="${{ inputs.discourse-url }}/t/${TOPIC_ID}/${POST_NUMBER}"
|
||||
|
||||
echo "post_number=${POST_NUMBER}" >> $GITHUB_OUTPUT
|
||||
echo "post_url=${POST_URL}" >> $GITHUB_OUTPUT
|
||||
echo "topic_id=${TOPIC_ID}" >> $GITHUB_OUTPUT
|
||||
|
||||
echo "Topic ID: ${TOPIC_ID}"
|
||||
echo "Post number: ${POST_NUMBER}"
|
||||
echo "URL: ${POST_URL}"
|
||||
else
|
||||
echo "❌ Failed to post to Discourse"
|
||||
echo "HTTP Code: ${HTTP_CODE}"
|
||||
echo "Response: ${BODY}"
|
||||
exit 1
|
||||
fi
|
||||
@@ -0,0 +1,28 @@
|
||||
name: Release Drafter
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
tags:
|
||||
- 'v*'
|
||||
pull_request_target:
|
||||
types: [opened, reopened, synchronize]
|
||||
workflow_dispatch:
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
|
||||
jobs:
|
||||
update_release_draft:
|
||||
permissions:
|
||||
contents: write
|
||||
pull-requests: write
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: release-drafter/release-drafter@v6
|
||||
with:
|
||||
config-name: release-drafter.yml
|
||||
prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -0,0 +1,36 @@
|
||||
name: release
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 9 * * *'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
GIT_CONFIG_COUNT: 1
|
||||
GIT_CONFIG_KEY_0: lfs.fetchexclude
|
||||
GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
|
||||
|
||||
jobs:
|
||||
build___nightly:
|
||||
name: build __nightly
|
||||
runs-on: ubuntu-latest
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
permissions:
|
||||
checks: read
|
||||
contents: write
|
||||
steps:
|
||||
- name: Wait for green check mark
|
||||
if: ${{ github.event_name == 'schedule' }}
|
||||
uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
|
||||
with:
|
||||
ref: master
|
||||
wait-interval: 30
|
||||
running-workflow-name: 'build __nightly'
|
||||
repo-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
|
||||
- uses: actions/checkout@v4 # checkout version > v4 breaks nightly release script
|
||||
with:
|
||||
submodules: true
|
||||
fetch-depth: 0
|
||||
- run: ./tools/op.sh setup
|
||||
- name: Push __nightly
|
||||
run: BRANCH=__nightly tools/release/build_stripped.sh
|
||||
@@ -0,0 +1,132 @@
|
||||
name: repo maintenance
|
||||
|
||||
on:
|
||||
schedule:
|
||||
- cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
|
||||
pull_request:
|
||||
types: [closed]
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
PYTHONPATH: ${{ github.workspace }}
|
||||
GIT_CONFIG_COUNT: 1
|
||||
GIT_CONFIG_KEY_0: lfs.fetchexclude
|
||||
GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
|
||||
|
||||
jobs:
|
||||
package_updates:
|
||||
name: package_updates
|
||||
runs-on: ubuntu-latest
|
||||
if: >-
|
||||
github.repository == 'sunnypilot/sunnypilot' &&
|
||||
(github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
|
||||
steps:
|
||||
- uses: actions/checkout@v7
|
||||
with:
|
||||
submodules: true
|
||||
- run: ./tools/op.sh setup
|
||||
- name: uv lock
|
||||
run: uv lock --upgrade
|
||||
- name: uv pip tree
|
||||
id: pip_tree
|
||||
run: |
|
||||
echo 'PIP_TREE<<EOF' >> $GITHUB_OUTPUT
|
||||
uv pip tree >> $GITHUB_OUTPUT
|
||||
echo 'EOF' >> $GITHUB_OUTPUT
|
||||
- name: venv size
|
||||
id: venv_size
|
||||
run: |
|
||||
echo 'VENV_SIZE<<EOF' >> $GITHUB_OUTPUT
|
||||
echo "Total: $(du -sh .venv | cut -f1)" >> $GITHUB_OUTPUT
|
||||
echo "" >> $GITHUB_OUTPUT
|
||||
echo "Top 10 by size:" >> $GITHUB_OUTPUT
|
||||
du -sh .venv/lib/python*/site-packages/* 2>/dev/null \
|
||||
| grep -v '\.dist-info' \
|
||||
| grep -v '__pycache__' \
|
||||
| sort -rh \
|
||||
| head -10 \
|
||||
| while IFS=$'\t' read size path; do echo "$size ${path##*/}"; done >> $GITHUB_OUTPUT
|
||||
echo 'EOF' >> $GITHUB_OUTPUT
|
||||
- name: bump submodules
|
||||
run: |
|
||||
git config submodule.msgq.update none
|
||||
git config submodule.rednose_repo.update none
|
||||
git config submodule.teleoprtc_repo.update none
|
||||
git config submodule.tinygrad.update none
|
||||
git submodule update --remote
|
||||
git add .
|
||||
- name: update car docs
|
||||
run: |
|
||||
python openpilot/selfdrive/car/docs.py
|
||||
git add docs/CARS.md
|
||||
- name: Create Pull Request
|
||||
uses: peter-evans/create-pull-request@5f6978faf089d4d20b00c7766989d076bb2fc7f1
|
||||
with:
|
||||
author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
|
||||
token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
|
||||
commit-message: Update Python packages
|
||||
title: '[bot] Update Python packages'
|
||||
branch: auto-package-updates
|
||||
base: master
|
||||
delete-branch: true
|
||||
body: |
|
||||
Automatic PR from repo-maintenance -> package_updates
|
||||
|
||||
```
|
||||
$ du -sh .venv && du -sh .venv/lib/python*/site-packages/* | sort -rh | head -10
|
||||
${{ steps.venv_size.outputs.VENV_SIZE }}
|
||||
```
|
||||
|
||||
```
|
||||
$ uv pip tree
|
||||
${{ steps.pip_tree.outputs.PIP_TREE }}
|
||||
```
|
||||
labels: bot
|
||||
|
||||
cleanup_closed_branches:
|
||||
if: github.repository == 'commaai/openpilot' && github.event_name == 'pull_request'
|
||||
runs-on: ubuntu-latest
|
||||
permissions:
|
||||
contents: write
|
||||
pull-requests: read
|
||||
steps:
|
||||
- uses: actions/github-script@v9
|
||||
with:
|
||||
script: |
|
||||
const { owner, repo } = context.repo;
|
||||
const upstream = `${owner}/${repo}`;
|
||||
|
||||
const closed = context.payload.pull_request;
|
||||
if (closed) {
|
||||
if (closed.head.repo?.full_name === upstream) {
|
||||
await github.rest.git.deleteRef({ owner, repo, ref: `heads/${closed.head.ref}` }).catch(console.log);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
for await (const response of github.paginate.iterator(github.rest.pulls.list, {
|
||||
owner,
|
||||
repo,
|
||||
state: 'closed',
|
||||
per_page: 100,
|
||||
})) {
|
||||
for (const pr of response.data) {
|
||||
if (pr.head.repo?.full_name !== upstream) continue;
|
||||
|
||||
const branch = pr.head.ref;
|
||||
try {
|
||||
await github.rest.git.deleteRef({
|
||||
owner,
|
||||
repo,
|
||||
ref: `heads/${branch}`,
|
||||
});
|
||||
console.log(`Deleted branch ${branch} (PR #${pr.number})`);
|
||||
} catch (error) {
|
||||
if (error.status === 422 || error.status === 403) {
|
||||
console.log(`Skipping branch ${branch} (PR #${pr.number}): ${error.message}`);
|
||||
continue;
|
||||
}
|
||||
throw error;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,52 @@
|
||||
name: stale
|
||||
on:
|
||||
schedule:
|
||||
- cron: '30 1 * * *'
|
||||
workflow_dispatch:
|
||||
|
||||
env:
|
||||
DAYS_BEFORE_PR_CLOSE: 7
|
||||
DAYS_BEFORE_PR_STALE: 24
|
||||
DAYS_BEFORE_PR_STALE_DRAFT: 30
|
||||
|
||||
jobs:
|
||||
stale:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/stale@v10
|
||||
with:
|
||||
exempt-all-milestones: true
|
||||
|
||||
# pull request config
|
||||
stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
|
||||
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 == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
|
||||
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 }}
|
||||
exempt-draft-pr: false
|
||||
|
||||
# issue config
|
||||
days-before-issue-stale: -1 # ignore issues for now
|
||||
|
||||
# same as above, but give draft PRs more time
|
||||
stale_drafts:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/stale@v10
|
||||
with:
|
||||
exempt-all-milestones: true
|
||||
|
||||
# pull request config
|
||||
stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
|
||||
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" # if wip or it needs testing from the community, don't mark as stale
|
||||
days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE_DRAFT }}
|
||||
days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
|
||||
exempt-draft-pr: true
|
||||
|
||||
# issue config
|
||||
days-before-issue-stale: -1 # ignore issues for now
|
||||
@@ -0,0 +1,301 @@
|
||||
name: Build Model from Upstream
|
||||
|
||||
env:
|
||||
BUILD_DIR: "/data/openpilot"
|
||||
OUTPUT_DIR: ${{ github.workspace }}/output
|
||||
SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
|
||||
UPSTREAM_REPO: "commaai/openpilot"
|
||||
TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
|
||||
MODELS_DIR: ${{ github.workspace }}/openpilot/selfdrive/modeld/models
|
||||
|
||||
on:
|
||||
workflow_call:
|
||||
inputs:
|
||||
upstream_branch:
|
||||
description: 'Upstream branch to build from'
|
||||
required: true
|
||||
default: 'master'
|
||||
type: string
|
||||
custom_name:
|
||||
description: 'Custom name for the model (no date, only name)'
|
||||
required: false
|
||||
type: string
|
||||
is_20hz:
|
||||
description: 'Is this a 20Hz model'
|
||||
required: false
|
||||
type: boolean
|
||||
default: true
|
||||
artifact_suffix:
|
||||
description: 'Suffix for artifact name'
|
||||
required: false
|
||||
type: string
|
||||
default: ''
|
||||
target_hardware:
|
||||
description: 'Hardware target to compile for (qcom or chestnut)'
|
||||
required: false
|
||||
type: string
|
||||
default: 'qcom'
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
upstream_branch:
|
||||
description: 'Upstream branch to build from'
|
||||
required: true
|
||||
default: 'master'
|
||||
type: string
|
||||
custom_name:
|
||||
description: 'Custom name for the model (no date, only name)'
|
||||
required: false
|
||||
type: string
|
||||
is_20hz:
|
||||
description: 'Is this a 20Hz model'
|
||||
required: false
|
||||
type: boolean
|
||||
default: true
|
||||
target_hardware:
|
||||
description: 'Hardware target to compile for'
|
||||
required: true
|
||||
type: choice
|
||||
options:
|
||||
- qcom
|
||||
- chestnut
|
||||
default: 'qcom'
|
||||
|
||||
|
||||
run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
|
||||
|
||||
jobs:
|
||||
get_model:
|
||||
runs-on: ubuntu-latest
|
||||
env:
|
||||
REF: ${{ inputs.upstream_branch }}
|
||||
outputs:
|
||||
model_date: ${{ steps.commit-date.outputs.model_date }}
|
||||
steps:
|
||||
# Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
|
||||
# and fallback to sunnypilot if the ref checkout fails.
|
||||
- name: Checkout commaai/openpilot
|
||||
id: checkout_upstream
|
||||
continue-on-error: true
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: commaai/openpilot
|
||||
ref: ${{ inputs.upstream_branch }}
|
||||
fetch-depth: 1
|
||||
submodules: recursive
|
||||
path: openpilot
|
||||
|
||||
- name: Fallback to sunnypilot/sunnypilot
|
||||
if: steps.checkout_upstream.outcome == 'failure'
|
||||
uses: actions/checkout@v4
|
||||
with:
|
||||
repository: sunnypilot/sunnypilot
|
||||
ref: ${{ inputs.upstream_branch }}
|
||||
fetch-depth: 1
|
||||
submodules: recursive
|
||||
path: openpilot
|
||||
- name: Get commit date
|
||||
id: commit-date
|
||||
run: |
|
||||
cd ${{ github.workspace }}/openpilot/openpilot
|
||||
commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
|
||||
echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
|
||||
cat $GITHUB_OUTPUT
|
||||
- run: |
|
||||
cd ${{ github.workspace }}/openpilot/openpilot
|
||||
if [ "${{ inputs.target_hardware }}" != "chestnut" ]; then
|
||||
git lfs pull -X "**/selfdrive/modeld/models/big_*.onnx,**/selfdrive/modeld/models/dmonitoring_*.onnx"
|
||||
rm -f selfdrive/modeld/models/big_*.onnx selfdrive/modeld/models/dmonitoring_*.onnx
|
||||
else
|
||||
git lfs pull -I "**/selfdrive/modeld/models/big_*.onnx" -X ""
|
||||
find selfdrive/modeld/models -name "*.onnx" ! -name "big_*.onnx" -delete
|
||||
fi
|
||||
if grep -lIF "version https://git-lfs.github.com/spec/v1" selfdrive/modeld/models/*.onnx; then
|
||||
echo "::error::the ONNX files above are still LFS pointers, not real models"
|
||||
exit 1
|
||||
fi
|
||||
- name: 'Upload Artifact'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
|
||||
path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
|
||||
if-no-files-found: error
|
||||
|
||||
build_model:
|
||||
runs-on: [self-hosted, chestnut]
|
||||
needs: get_model
|
||||
env:
|
||||
MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
|
||||
REF: ${{ inputs.upstream_branch }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 1
|
||||
submodules: recursive
|
||||
|
||||
|
||||
- name: Set environment variables
|
||||
id: set-env
|
||||
run: |
|
||||
# Set up common environment
|
||||
source /etc/profile;
|
||||
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
|
||||
export UV_PYTHON_PREFERENCE=managed
|
||||
export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
|
||||
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
||||
uv sync --frozen
|
||||
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
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
|
||||
rm -rf ${{ env.MODELS_DIR }}/*.onnx*
|
||||
|
||||
- name: Download model artifacts
|
||||
uses: actions/download-artifact@v4
|
||||
with:
|
||||
name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
|
||||
path: ${{ env.MODELS_DIR }}
|
||||
|
||||
- name: Build Model
|
||||
run: |
|
||||
source /etc/profile
|
||||
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
|
||||
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
|
||||
|
||||
COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
|
||||
MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
|
||||
CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
|
||||
|
||||
TG_FLAGS_QCOM="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
|
||||
if [ "${{ inputs.target_hardware }}" == "chestnut" ]; then
|
||||
echo "CHESTNUT build"
|
||||
export CHESTNUT=1
|
||||
TG_FLAGS="DEBUG=1 DEV=USB+AMD:LLVM WARP_DEV=QCOM FLOAT16=1 JIT_BATCH_SIZE=0 GMMU=0 TC_OPT=2"
|
||||
OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
|
||||
else
|
||||
echo "QCOM build"
|
||||
TG_FLAGS="$TG_FLAGS_QCOM"
|
||||
OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
|
||||
fi
|
||||
|
||||
# Generate metadata for all ONNX files
|
||||
find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
|
||||
echo "Generating metadata: $onnx_file"
|
||||
env ${TG_FLAGS_QCOM} python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
|
||||
done
|
||||
|
||||
# Detect model type and build compile args
|
||||
VISION_ONNX=""
|
||||
for f in "${{ env.MODELS_DIR }}/driving_vision.onnx" "${{ env.MODELS_DIR }}/big_driving_vision.onnx"; do
|
||||
[ -f "$f" ] && VISION_ONNX="$f" && break
|
||||
done
|
||||
|
||||
POLICY_ONNX=""
|
||||
for f in "${{ env.MODELS_DIR }}/driving_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_policy.onnx"; do
|
||||
[ -f "$f" ] && POLICY_ONNX="$f" && break
|
||||
done
|
||||
|
||||
OFF_POLICY_ONNX=""
|
||||
for f in "${{ env.MODELS_DIR }}/driving_off_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_off_policy.onnx"; do
|
||||
[ -f "$f" ] && OFF_POLICY_ONNX="$f" && break
|
||||
done
|
||||
|
||||
ON_POLICY_ONNX=""
|
||||
for f in "${{ env.MODELS_DIR }}/driving_on_policy.onnx" "${{ env.MODELS_DIR }}/big_driving_on_policy.onnx"; do
|
||||
[ -f "$f" ] && ON_POLICY_ONNX="$f" && break
|
||||
done
|
||||
|
||||
SUPERCOMBO_ONNX=""
|
||||
for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx" "${{ env.MODELS_DIR }}/big_supercombo.onnx" "${{ env.MODELS_DIR }}/big_driving_supercombo.onnx"; do
|
||||
[ -f "$f" ] && SUPERCOMBO_ONNX="$f" && break
|
||||
done
|
||||
|
||||
MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
|
||||
if [ -f "$VISION_ONNX" ]; then
|
||||
ONNX_ARGS="--vision-onnx $VISION_ONNX"
|
||||
if [ -f "$ON_POLICY_ONNX" ] && [ -f "$OFF_POLICY_ONNX" ]; then
|
||||
MODEL_TYPE=vision_multi_policy
|
||||
ONNX_ARGS="$ONNX_ARGS --off-policy-onnx $OFF_POLICY_ONNX --on-policy-onnx $ON_POLICY_ONNX"
|
||||
elif [ -f "$OFF_POLICY_ONNX" ] && [ -f "$POLICY_ONNX" ]; then
|
||||
MODEL_TYPE=vision_multi_policy
|
||||
ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX --off-policy-onnx $OFF_POLICY_ONNX"
|
||||
elif [ -f "$POLICY_ONNX" ]; then
|
||||
MODEL_TYPE=vision_policy
|
||||
ONNX_ARGS="$ONNX_ARGS --policy-onnx $POLICY_ONNX"
|
||||
fi
|
||||
elif [ -f "$SUPERCOMBO_ONNX" ]; then
|
||||
MODEL_TYPE=supercombo
|
||||
ONNX_ARGS="--supercombo-onnx $SUPERCOMBO_ONNX"
|
||||
fi
|
||||
|
||||
if [ -n "$MODEL_TYPE" ]; then
|
||||
echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
|
||||
env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
|
||||
--model-type $MODEL_TYPE \
|
||||
--model-size $MODEL_SIZE \
|
||||
--camera-resolutions $CAMERA_RES \
|
||||
$ONNX_ARGS \
|
||||
--output "$OUTPUT_PKL"
|
||||
fi
|
||||
|
||||
- name: Prepare Output
|
||||
run: |
|
||||
sudo rm -rf ${{ env.OUTPUT_DIR }}
|
||||
mkdir -p ${{ env.OUTPUT_DIR }}
|
||||
|
||||
# Copy the model files
|
||||
rsync -avm \
|
||||
--include='*.dlc' \
|
||||
--include='*.chunk*' \
|
||||
--include='*.chunkmanifest' \
|
||||
--exclude='*' \
|
||||
--delete-excluded \
|
||||
--chown=comma:comma \
|
||||
${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
|
||||
|
||||
python3 "${{ github.workspace }}/release/ci/model_generator.py" \
|
||||
--model-dir "${{ env.MODELS_DIR }}" \
|
||||
--output-dir "${{ env.OUTPUT_DIR }}" \
|
||||
--custom-name "${{ env.MODEL_NAME }}" \
|
||||
--upstream-branch "${{ inputs.upstream_branch }}" \
|
||||
${{ inputs.is_20hz && '--is-20hz' || '' }}
|
||||
|
||||
- name: Write artifact name to file
|
||||
run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
|
||||
|
||||
- name: Upload Build Artifacts
|
||||
id: upload-artifact
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
|
||||
path: ${{ env.OUTPUT_DIR }}
|
||||
|
||||
- name: Upload artifact name file
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
|
||||
path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
|
||||
|
||||
- name: Re-enable powersave
|
||||
if: always()
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
|
||||
@@ -0,0 +1,604 @@
|
||||
name: sunnypilot prebuilt action
|
||||
|
||||
env:
|
||||
BUILD_DIR: "/data/openpilot"
|
||||
OUTPUT_DIR: ${{ github.workspace }}/output
|
||||
CI_DIR: ${{ github.workspace }}/release/ci
|
||||
PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
|
||||
|
||||
# Runtime configuration
|
||||
SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
|
||||
|
||||
on:
|
||||
push:
|
||||
branches: [ master, master-dev ]
|
||||
tags: [ 'release/*' ]
|
||||
pull_request_target:
|
||||
types: [ labeled ]
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
wait_for_tests:
|
||||
description: 'Wait for tests to finish'
|
||||
required: false
|
||||
type: boolean
|
||||
default: false
|
||||
|
||||
jobs:
|
||||
prepare_strategy:
|
||||
runs-on: ubuntu-24.04
|
||||
if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
outputs:
|
||||
environment: ${{ steps.strategy.outputs.environment }}
|
||||
new_branch: ${{ steps.strategy.outputs.new_branch }}
|
||||
extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
|
||||
version: ${{ steps.strategy.outputs.version }}
|
||||
cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
|
||||
publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
|
||||
is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
|
||||
build: ${{ steps.strategy.outputs.build }}
|
||||
include_big_model: ${{ steps.strategy.outputs.include_big_model }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 1
|
||||
- name: Extract deploy strategy
|
||||
id: strategy
|
||||
run: |
|
||||
echo '::group::Strategy Extraction'
|
||||
BRANCH="${{ github.head_ref || github.ref_name }}"
|
||||
echo "Current branch: $BRANCH"
|
||||
|
||||
STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
|
||||
CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
|
||||
.configs[] | select(.branch == $branch)
|
||||
')
|
||||
|
||||
BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
|
||||
if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
|
||||
echo "No exact strategy match found. Falling back to feature/fork logic."
|
||||
IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
|
||||
FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
|
||||
NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
|
||||
|
||||
echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
|
||||
echo "version=$BUILD" >> $GITHUB_OUTPUT
|
||||
echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
|
||||
echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
|
||||
echo "environment=feature-branch" >> $GITHUB_OUTPUT
|
||||
echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
|
||||
else
|
||||
echo "Matched config: $CONFIG"
|
||||
environment=$(echo "$CONFIG" | jq -r '.environment')
|
||||
echo "environment=$environment" >> $GITHUB_OUTPUT
|
||||
echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
|
||||
cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
|
||||
echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
|
||||
echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
|
||||
|
||||
is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
|
||||
echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
|
||||
|
||||
stable_version=$(cat openpilot/sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
|
||||
echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
|
||||
echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
|
||||
|
||||
include_big_model="$(echo "$CONFIG" | jq -r '.include_big_model // false')";
|
||||
echo "include_big_model=$include_big_model" >> $GITHUB_OUTPUT
|
||||
fi
|
||||
echo "build=$BUILD" >> $GITHUB_OUTPUT
|
||||
cat $GITHUB_OUTPUT
|
||||
|
||||
validate_tests:
|
||||
runs-on: ubuntu-24.04
|
||||
needs: [ prepare_strategy ]
|
||||
if: ${{
|
||||
((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
|
||||
(github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
|
||||
contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
}}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 1
|
||||
- name: Wait for Tests
|
||||
uses: ./.github/workflows/wait-for-action # Path to where you place the action
|
||||
with:
|
||||
workflow: tests.yaml # The workflow file to monitor
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
|
||||
|
||||
build:
|
||||
needs: [ validate_tests, prepare_strategy ]
|
||||
concurrency:
|
||||
group: build-${{ github.head_ref || github.ref_name }}
|
||||
cancel-in-progress: false
|
||||
runs-on: [self-hosted, tici]
|
||||
if: ${{
|
||||
(always() && !cancelled() && !failure()) &&
|
||||
needs.prepare_strategy.result == 'success' &&
|
||||
(needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
|
||||
(!contains(github.event_name, 'pull_request') ||
|
||||
(github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
}}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 1
|
||||
submodules: recursive
|
||||
ref: ${{ env.SOURCE_BRANCH }}
|
||||
repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
|
||||
- run: git lfs pull
|
||||
|
||||
- name: Set environment variables
|
||||
run: |
|
||||
# Set up common environment
|
||||
source /etc/profile;
|
||||
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
|
||||
export UV_PYTHON_PREFERENCE=managed
|
||||
export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
|
||||
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
|
||||
uv sync
|
||||
printenv >> $GITHUB_ENV
|
||||
|
||||
- name: Setup build environment
|
||||
run: |
|
||||
mkdir -p "${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: ${{ needs.prepare_strategy.outputs.version }}"
|
||||
echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
|
||||
echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
|
||||
echo "-------"
|
||||
if [[ "${{ runner.debug }}" == "1" ]]; then
|
||||
printenv
|
||||
fi
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
|
||||
|
||||
- name: Build Main Project
|
||||
run: |
|
||||
export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/msgq_repo:$BUILD_DIR/opendbc_repo:$BUILD_DIR/rednose_repo:$BUILD_DIR/teleoprtc_repo:$BUILD_DIR/tinygrad_repo"
|
||||
./tools/release/release_files.py | xargs -0 cp -pR --parents -t "$BUILD_DIR" --
|
||||
# outside the checkout, which is wiped each run. /data/scons_cache is the device's, not ours.
|
||||
SCONS_CACHE="$RUNNER_WORKSPACE/scons_cache"
|
||||
mkdir -p "$SCONS_CACHE"
|
||||
cd $BUILD_DIR
|
||||
echo "Building locationd..."
|
||||
# -j1: parallel rednose generators OOM the device
|
||||
scons -j1 cache_dir="$SCONS_CACHE" --minimal \
|
||||
openpilot/selfdrive/locationd openpilot/sunnypilot/selfdrive/locationd
|
||||
echo "Building rest of sunnypilot"
|
||||
SKIP_TINYGRAD_COMPILE=1 /usr/bin/time -v scons -j$(nproc) cache_dir="$SCONS_CACHE" --minimal
|
||||
touch ${BUILD_DIR}/prebuilt
|
||||
if [[ "${{ runner.debug }}" == "1" ]]; then
|
||||
ls -la ${BUILD_DIR}
|
||||
fi
|
||||
|
||||
- name: Strip release tree
|
||||
run: |
|
||||
cd $BUILD_DIR
|
||||
find . -name '*.a' -delete
|
||||
find . -name '*.o' -delete
|
||||
find . -name '*.os' -delete
|
||||
find . -name '*.pyc' -delete
|
||||
find . -name 'moc_*' -delete
|
||||
find . -name '__pycache__' -type d -exec rm -rf {} +
|
||||
find . -name 'SConstruct' -delete
|
||||
find . -name 'SConscript' -delete
|
||||
rm -rf .sconsign.dblite Jenkinsfile tools/release/ release/
|
||||
rm -f openpilot/selfdrive/modeld/models/*.onnx*
|
||||
rm -f openpilot/sunnypilot/modeld*/models/*.onnx*
|
||||
find openpilot/third_party/ -name '*x86*' -exec rm -r {} +
|
||||
find openpilot/third_party/ -name '*Darwin*' -exec rm -r {} +
|
||||
cd -
|
||||
|
||||
- name: 'Tar.gz files'
|
||||
run: |
|
||||
tar czf prebuilt.tar.gz -C ${{ env.BUILD_DIR }} .
|
||||
ls -la prebuilt.tar.gz
|
||||
|
||||
- name: 'Upload Artifact'
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: prebuilt
|
||||
path: prebuilt.tar.gz
|
||||
compression-level: 0
|
||||
|
||||
- name: Re-enable powersave
|
||||
if: always()
|
||||
run: |
|
||||
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
|
||||
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
|
||||
|
||||
prepare_chestnut:
|
||||
needs: [ prepare_strategy ]
|
||||
runs-on: ubuntu-24.04
|
||||
if: ${{ needs.prepare_strategy.outputs.include_big_model == 'true' }}
|
||||
outputs:
|
||||
onnx_sha256: ${{ steps.resolve.outputs.onnx_sha256 }}
|
||||
env:
|
||||
GH_REPO: ${{ github.repository }}
|
||||
HF_REPO: sunnypilot/sunnypilot_models_v1
|
||||
HF_DEFAULTS_PATH: models/defaults/big
|
||||
steps:
|
||||
- name: Resolve ONNX hash and tinygrad ref via API
|
||||
id: resolve
|
||||
run: |
|
||||
REF="${{ github.head_ref || github.ref_name }}"
|
||||
|
||||
ONNX_HASH=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx?ref=${REF}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
|
||||
echo "ONNX hash: $ONNX_HASH"
|
||||
echo "onnx_sha256=$ONNX_HASH" >> $GITHUB_OUTPUT
|
||||
|
||||
TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
|
||||
echo "tinygrad ref: $TINYGRAD_REF"
|
||||
|
||||
JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
|
||||
|
||||
check_defaults() {
|
||||
DEFAULTS=$(curl -fsSL "$JSON_URL" 2>/dev/null) || return 1
|
||||
TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
|
||||
[ "$TINYGRAD_MATCH" = "true" ] || return 1
|
||||
BUNDLE=$(echo "$DEFAULTS" | jq --arg hash "$ONNX_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
|
||||
[ -n "$BUNDLE" ] && [ "$BUNDLE" != "null" ]
|
||||
}
|
||||
|
||||
if check_defaults; then
|
||||
echo "HF defaults match repo ONNX hash and tinygrad ref"
|
||||
exit 0
|
||||
fi
|
||||
|
||||
echo "No matching model on HF — dispatching build"
|
||||
gh workflow run build-default-models.yaml --ref "$REF" -f target=big
|
||||
|
||||
echo "Polling HF for big model availability..."
|
||||
for i in $(seq 1 90); do
|
||||
sleep 30
|
||||
if check_defaults; then
|
||||
echo "Big model available on HF after $((i * 30))s"
|
||||
exit 0
|
||||
fi
|
||||
echo "Poll $i/90: not yet available"
|
||||
done
|
||||
|
||||
echo "::error::Big model not available on HF after 45 minutes"
|
||||
exit 1
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Cancel run on failure
|
||||
if: failure()
|
||||
run: gh run cancel ${{ github.run_id }}
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
prepare_small_model:
|
||||
needs: [ prepare_strategy ]
|
||||
runs-on: ubuntu-24.04
|
||||
outputs:
|
||||
driving_onnx_sha256: ${{ steps.resolve.outputs.driving_onnx_sha256 }}
|
||||
env:
|
||||
GH_REPO: ${{ github.repository }}
|
||||
HF_REPO: sunnypilot/sunnypilot_models_v1
|
||||
HF_DEFAULTS_PATH: models/defaults/small
|
||||
steps:
|
||||
- name: Resolve ONNX hash and tinygrad ref via API
|
||||
id: resolve
|
||||
run: |
|
||||
REF="${{ github.head_ref || github.ref_name }}"
|
||||
|
||||
DRIVING_HASH=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/driving_supercombo.onnx?ref=${REF}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
|
||||
echo "Driving ONNX hash: $DRIVING_HASH"
|
||||
echo "driving_onnx_sha256=$DRIVING_HASH" >> $GITHUB_OUTPUT
|
||||
|
||||
TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
|
||||
echo "tinygrad ref: $TINYGRAD_REF"
|
||||
|
||||
JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
|
||||
|
||||
check_defaults() {
|
||||
DEFAULTS=$(curl -fsSL "$JSON_URL" 2>/dev/null) || return 1
|
||||
TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
|
||||
[ "$TINYGRAD_MATCH" = "true" ] || return 1
|
||||
DRIVING=$(echo "$DEFAULTS" | jq --arg hash "$DRIVING_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
|
||||
[ -n "$DRIVING" ] && [ "$DRIVING" != "null" ] || return 1
|
||||
}
|
||||
|
||||
if check_defaults; then
|
||||
echo "HF defaults match repo ONNX hash and tinygrad ref"
|
||||
exit 0
|
||||
fi
|
||||
|
||||
echo "No matching model on HF — dispatching build"
|
||||
gh workflow run build-default-models.yaml --ref "$REF" -f target=small
|
||||
|
||||
echo "Polling HF for model availability..."
|
||||
for i in $(seq 1 60); do
|
||||
sleep 30
|
||||
if check_defaults; then
|
||||
echo "Model available on HF after $((i * 30))s"
|
||||
exit 0
|
||||
fi
|
||||
echo "Poll $i/60: not yet available"
|
||||
done
|
||||
|
||||
echo "::error::Small driving model not available on HF after 30 minutes"
|
||||
exit 1
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Cancel run on failure
|
||||
if: failure()
|
||||
run: gh run cancel ${{ github.run_id }}
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
prepare_dm_model:
|
||||
needs: [ prepare_strategy ]
|
||||
runs-on: ubuntu-24.04
|
||||
outputs:
|
||||
dm_onnx_sha256: ${{ steps.resolve.outputs.dm_onnx_sha256 }}
|
||||
env:
|
||||
GH_REPO: ${{ github.repository }}
|
||||
HF_REPO: sunnypilot/sunnypilot_models_v1
|
||||
HF_DEFAULTS_PATH: models/defaults/dm
|
||||
steps:
|
||||
- name: Resolve ONNX hash and tinygrad ref via API
|
||||
id: resolve
|
||||
run: |
|
||||
REF="${{ github.head_ref || github.ref_name }}"
|
||||
|
||||
DM_HASH=$(gh api "repos/${GH_REPO}/contents/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx?ref=${REF}" --jq '.content' | base64 -d | grep '^oid sha256:' | cut -d: -f2)
|
||||
echo "DM ONNX hash: $DM_HASH"
|
||||
echo "dm_onnx_sha256=$DM_HASH" >> $GITHUB_OUTPUT
|
||||
|
||||
TINYGRAD_REF=$(gh api "repos/${GH_REPO}/contents/tinygrad_repo?ref=${REF}" --jq '.sha')
|
||||
echo "tinygrad ref: $TINYGRAD_REF"
|
||||
|
||||
JSON_URL="https://huggingface.co/datasets/${HF_REPO}/resolve/main/${HF_DEFAULTS_PATH}/default_models.json"
|
||||
|
||||
check_defaults() {
|
||||
DEFAULTS=$(curl -fsSL "$JSON_URL" 2>/dev/null) || return 1
|
||||
TINYGRAD_MATCH=$(echo "$DEFAULTS" | jq -r --arg ref "$TINYGRAD_REF" '.tinygrad_ref == $ref' 2>/dev/null)
|
||||
[ "$TINYGRAD_MATCH" = "true" ] || return 1
|
||||
DM=$(echo "$DEFAULTS" | jq --arg hash "$DM_HASH" '.bundles[] | select(.onnx_sha256 == $hash)' 2>/dev/null)
|
||||
[ -n "$DM" ] && [ "$DM" != "null" ] || return 1
|
||||
}
|
||||
|
||||
if check_defaults; then
|
||||
echo "HF defaults match DM ONNX hash and tinygrad ref"
|
||||
exit 0
|
||||
fi
|
||||
|
||||
echo "No matching DM model on HF — dispatching build"
|
||||
gh workflow run build-default-models.yaml --ref "$REF" -f target=dm
|
||||
|
||||
echo "Polling HF for DM model availability..."
|
||||
for i in $(seq 1 60); do
|
||||
sleep 30
|
||||
if check_defaults; then
|
||||
echo "DM model available on HF after $((i * 30))s"
|
||||
exit 0
|
||||
fi
|
||||
echo "Poll $i/60: not yet available"
|
||||
done
|
||||
|
||||
echo "::error::DM model not available on HF after 30 minutes"
|
||||
exit 1
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Cancel run on failure
|
||||
if: failure()
|
||||
run: gh run cancel ${{ github.run_id }}
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
publish:
|
||||
concurrency:
|
||||
group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
|
||||
cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
|
||||
if: ${{
|
||||
always() && !cancelled() &&
|
||||
needs.build.result == 'success' &&
|
||||
needs.prepare_strategy.result == 'success' &&
|
||||
needs.prepare_small_model.result == 'success' &&
|
||||
needs.prepare_dm_model.result == 'success' &&
|
||||
(!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) &&
|
||||
(needs.prepare_strategy.outputs.include_big_model != 'true' || needs.prepare_chestnut.result == 'success')
|
||||
}}
|
||||
needs: [ build, prepare_strategy, prepare_chestnut, prepare_small_model, prepare_dm_model ]
|
||||
runs-on: ubuntu-24.04
|
||||
environment: ${{ needs.prepare_strategy.outputs.environment }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Download prebuilt artifact
|
||||
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: Download model chunks from HF
|
||||
uses: ./.github/workflows/download-hf-model-chunks
|
||||
with:
|
||||
hf_repo: sunnypilot/sunnypilot_models_v1
|
||||
dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
|
||||
models: |
|
||||
[
|
||||
{"hf_path": "models/defaults/small", "onnx_hash": "${{ needs.prepare_small_model.outputs.driving_onnx_sha256 }}", "canonical": "driving_tinygrad.pkl"},
|
||||
{"hf_path": "models/defaults/dm", "onnx_hash": "${{ needs.prepare_dm_model.outputs.dm_onnx_sha256 }}", "canonical": "dmonitoring_model_tinygrad.pkl"}
|
||||
]
|
||||
|
||||
- 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.prepare_strategy.outputs) }}'
|
||||
ls -la ${{ env.OUTPUT_DIR }}
|
||||
|
||||
${{ env.CI_DIR }}/publish.sh \
|
||||
"${{ github.workspace }}" \
|
||||
"${{ env.OUTPUT_DIR }}" \
|
||||
"${{ needs.prepare_strategy.outputs.new_branch }}" \
|
||||
"${{ needs.prepare_strategy.outputs.version }}" \
|
||||
"https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
|
||||
"${{ needs.prepare_strategy.outputs.extra_version_identifier }}"
|
||||
|
||||
- name: Tag ${{ needs.prepare_strategy.outputs.environment }}
|
||||
if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
|
||||
run: |
|
||||
TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
|
||||
git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.prepare_strategy.outputs.build }}."
|
||||
git push -f origin ${TAG}
|
||||
|
||||
publish_chestnut:
|
||||
concurrency:
|
||||
group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}-chestnut
|
||||
cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
|
||||
if: ${{
|
||||
always() && !cancelled() &&
|
||||
needs.build.result == 'success' &&
|
||||
needs.prepare_strategy.result == 'success' &&
|
||||
needs.prepare_small_model.result == 'success' &&
|
||||
needs.prepare_dm_model.result == 'success' &&
|
||||
needs.prepare_chestnut.result == 'success' &&
|
||||
(!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
}}
|
||||
needs: [ build, prepare_strategy, prepare_chestnut, prepare_small_model, prepare_dm_model ]
|
||||
runs-on: ubuntu-24.04
|
||||
environment: ${{ needs.prepare_strategy.outputs.environment }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Download prebuilt artifact
|
||||
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: Download model chunks from HF
|
||||
uses: ./.github/workflows/download-hf-model-chunks
|
||||
with:
|
||||
hf_repo: sunnypilot/sunnypilot_models_v1
|
||||
dest_dir: ${{ env.OUTPUT_DIR }}/openpilot/selfdrive/modeld/models
|
||||
models: |
|
||||
[
|
||||
{"hf_path": "models/defaults/small", "onnx_hash": "${{ needs.prepare_small_model.outputs.driving_onnx_sha256 }}", "canonical": "driving_tinygrad.pkl"},
|
||||
{"hf_path": "models/defaults/dm", "onnx_hash": "${{ needs.prepare_dm_model.outputs.dm_onnx_sha256 }}", "canonical": "dmonitoring_model_tinygrad.pkl"},
|
||||
{"hf_path": "models/defaults/big", "onnx_hash": "${{ needs.prepare_chestnut.outputs.onnx_sha256 }}", "canonical": "big_driving_tinygrad.pkl"}
|
||||
]
|
||||
|
||||
- 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 chestnut branch
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
run: |
|
||||
CHESTNUT_BRANCH="${{ needs.prepare_strategy.outputs.new_branch }}-chestnut"
|
||||
|
||||
${{ env.CI_DIR }}/publish.sh \
|
||||
"${{ github.workspace }}" \
|
||||
"${{ env.OUTPUT_DIR }}" \
|
||||
"$CHESTNUT_BRANCH" \
|
||||
"${{ needs.prepare_strategy.outputs.version }}" \
|
||||
"https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
|
||||
"${{ needs.prepare_strategy.outputs.extra_version_identifier }}"
|
||||
|
||||
notify:
|
||||
needs:
|
||||
- prepare_strategy
|
||||
- build
|
||||
- publish
|
||||
- publish_chestnut
|
||||
- prepare_chestnut
|
||||
- prepare_small_model
|
||||
- prepare_dm_model
|
||||
runs-on: ubuntu-24.04
|
||||
if: ${{ (always() && !cancelled() && !failure())
|
||||
&& needs.publish.result == 'success'
|
||||
&& (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
&& (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 1
|
||||
|
||||
- name: Prepare notification message
|
||||
id: message
|
||||
run: |
|
||||
export VERSION="${{ needs.prepare_strategy.outputs.version }}"
|
||||
export branch_name="${{ env.SOURCE_BRANCH }}"
|
||||
export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
|
||||
export commit_sha="${{ github.sha }}"
|
||||
export commit_short_sha="${{ github.sha }}"
|
||||
export commit_short_sha="${commit_short_sha:0:7}"
|
||||
export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
|
||||
export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
|
||||
export chestnut_branch="${{ needs.prepare_chestnut.result == 'success' && format('{0}-chestnut', needs.prepare_strategy.outputs.new_branch) || '' }}"
|
||||
|
||||
MESSAGE=$(cat << 'EOF' | envsubst
|
||||
${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
|
||||
EOF
|
||||
)
|
||||
|
||||
{
|
||||
echo 'content<<EOFMARKER'
|
||||
echo "$MESSAGE"
|
||||
echo 'EOFMARKER'
|
||||
} >> $GITHUB_OUTPUT
|
||||
shell: bash
|
||||
|
||||
- name: Post to Discourse
|
||||
uses: ./.github/workflows/post-to-discourse
|
||||
with:
|
||||
discourse-url: ${{ vars.DISCOURSE_URL }}
|
||||
api-key: ${{ secrets.DISCOURSE_API_KEY }}
|
||||
api-username: "system"
|
||||
topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
|
||||
message: ${{ steps.message.outputs.content }}
|
||||
|
||||
manage-pr-labels:
|
||||
name: Remove prebuilt label
|
||||
runs-on: ubuntu-latest
|
||||
if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
|
||||
env:
|
||||
LABEL: prebuilt
|
||||
steps:
|
||||
- name: Remove trust-fork-pr label if present
|
||||
uses: actions/github-script@v7
|
||||
with:
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
script: |
|
||||
const prNumber = context.payload.pull_request.number;
|
||||
|
||||
await github.rest.issues.removeLabel({
|
||||
owner: context.repo.owner,
|
||||
repo: context.repo.repo,
|
||||
issue_number: prNumber,
|
||||
name: process.env.LABEL
|
||||
});
|
||||
|
||||
console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
|
||||
@@ -0,0 +1,243 @@
|
||||
name: Build dev
|
||||
|
||||
env:
|
||||
DEFAULT_SOURCE_BRANCH: "master"
|
||||
DEFAULT_TARGET_BRANCH: "master-dev"
|
||||
LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
|
||||
LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request_target:
|
||||
types: [ labeled ]
|
||||
branches:
|
||||
- 'master'
|
||||
workflow_dispatch:
|
||||
inputs:
|
||||
source_branch:
|
||||
description: 'Source branch to reset from'
|
||||
required: true
|
||||
default: 'master'
|
||||
type: string
|
||||
target_branch:
|
||||
description: 'Target branch to reset and squash into'
|
||||
required: true
|
||||
default: 'master-dev'
|
||||
type: string
|
||||
cancel_in_progress:
|
||||
description: 'Cancel any in-progress runs of this workflow'
|
||||
required: false
|
||||
default: true
|
||||
type: boolean
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}
|
||||
cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
|
||||
|
||||
jobs:
|
||||
reset-and-squash:
|
||||
runs-on: ubuntu-latest
|
||||
if: (
|
||||
(github.event_name == 'workflow_dispatch')
|
||||
|| (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
|
||||
)
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
with:
|
||||
fetch-depth: 0 # Fetch all history for all branches
|
||||
token: ${{ secrets.GITHUB_TOKEN }}
|
||||
persist-credentials: false
|
||||
|
||||
- name: Wait for Tests
|
||||
uses: ./.github/workflows/wait-for-action # Path to where you place the action
|
||||
if: (
|
||||
(github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
|
||||
|| (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
|
||||
)
|
||||
with:
|
||||
workflow: tests.yaml # The workflow file to monitor
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Configure Git
|
||||
run: |
|
||||
git config --global user.name 'github-actions[bot]'
|
||||
git config --global user.email 'github-actions[bot]@users.noreply.github.com'
|
||||
|
||||
- name: Set up SSH
|
||||
uses: webfactory/ssh-agent@v0.9.0
|
||||
with:
|
||||
ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
|
||||
|
||||
- name: Add GitLab public keys
|
||||
run: |
|
||||
ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
|
||||
|
||||
- name: Set up Python
|
||||
uses: actions/setup-python@v5
|
||||
with:
|
||||
python-version: '3.10'
|
||||
|
||||
- name: Install dependencies
|
||||
run: |
|
||||
python -m pip install --upgrade pip
|
||||
pip install PyGithub
|
||||
|
||||
- name: Check branches exist
|
||||
run: |
|
||||
# Check if source branch exists
|
||||
if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
|
||||
echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# Make sure we have the latest source branch
|
||||
git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
|
||||
|
||||
# Check if target branch exists
|
||||
if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
|
||||
echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
|
||||
git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
|
||||
git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
|
||||
else
|
||||
# Fetch target branch if it exists
|
||||
git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
|
||||
fi
|
||||
|
||||
- name: Reset target branch
|
||||
run: |
|
||||
echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
|
||||
# Delete if exists and recreate pointing to source
|
||||
git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
|
||||
git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
|
||||
|
||||
- name: Get PRs to squash
|
||||
id: get-prs
|
||||
run: |
|
||||
# Use GitHub API to get PRs with specific label, ordered by creation date
|
||||
PR_LIST=$(gh api graphql -f query='
|
||||
query($search_query:String!) {
|
||||
search(query: $search_query, type:ISSUE, first:40) {
|
||||
nodes {
|
||||
... on PullRequest {
|
||||
number
|
||||
headRefName
|
||||
title
|
||||
createdAt
|
||||
labels(last:10) {
|
||||
nodes {
|
||||
name
|
||||
}
|
||||
}
|
||||
headRepository {
|
||||
name
|
||||
nameWithOwner
|
||||
url
|
||||
isFork
|
||||
}
|
||||
commits(last: 1) {
|
||||
nodes {
|
||||
commit {
|
||||
statusCheckRollup {
|
||||
state
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
|
||||
|
||||
PR_LIST=${PR_LIST//\'/}
|
||||
echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
|
||||
env:
|
||||
GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Process PRs
|
||||
run: |
|
||||
cp ${{ github.workspace }}/release/ci/squash_and_merge.py /tmp/squash_and_merge.py && \
|
||||
chmod +x /tmp/squash_and_merge.py && \
|
||||
python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
|
||||
--pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
|
||||
--target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
|
||||
--squash-script-path '/tmp/squash_and_merge.py'
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
|
||||
- name: Update LFS Config
|
||||
run: |
|
||||
echo '[lfs]' > .lfsconfig
|
||||
echo ' url = ${{ env.LFS_URL }}' >> .lfsconfig
|
||||
echo ' pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
|
||||
echo ' locksverify = false' >> .lfsconfig
|
||||
|
||||
- name: Restore workflows from source
|
||||
run: |
|
||||
TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
|
||||
SOURCE_BRANCH="${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
|
||||
|
||||
# Ensure we are on the target branch
|
||||
git checkout $TARGET_BRANCH
|
||||
|
||||
echo "Restoring .github/workflows from $SOURCE_BRANCH"
|
||||
git checkout origin/$SOURCE_BRANCH -- .github/workflows
|
||||
|
||||
if ! git diff --cached --quiet; then
|
||||
echo "Workflows differ. Committing restoration."
|
||||
git commit -m "chore: restore .github/workflows from $SOURCE_BRANCH"
|
||||
else
|
||||
echo "Workflows match $SOURCE_BRANCH."
|
||||
fi
|
||||
|
||||
- uses: actions/create-github-app-token@v2
|
||||
id: ci-token
|
||||
with:
|
||||
app-id: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_ID }}
|
||||
private-key: ${{ secrets.CI_GITHUB_ACTIONS_TOKEN_APP_PRIVATE_KEY }}
|
||||
|
||||
- name: Push changes if there are diffs
|
||||
id: push-changes
|
||||
run: |
|
||||
TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
|
||||
|
||||
# Use the App Token to set the remote URL with authentication
|
||||
git remote set-url origin "https://x-access-token:${{ steps.ci-token.outputs.token }}@github.com/${{ github.repository }}.git"
|
||||
|
||||
# Fetch the latest from remote
|
||||
git fetch origin $TARGET_BRANCH
|
||||
|
||||
# Check for diffs between local and remote
|
||||
if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
|
||||
echo "No changes to push - local and remote branches are identical"
|
||||
echo "has_changes=false" >> $GITHUB_OUTPUT
|
||||
exit 0
|
||||
fi
|
||||
|
||||
# Push with the authenticated origin
|
||||
if ! git push origin $TARGET_BRANCH --force; then
|
||||
echo "Failed to push changes to $TARGET_BRANCH"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
|
||||
echo "has_changes=true" >> $GITHUB_OUTPUT
|
||||
|
||||
- name: Trigger and wait for selfdrive tests
|
||||
if: steps.push-changes.outputs.has_changes == 'true'
|
||||
run: |
|
||||
echo "Triggering selfdrive tests..."
|
||||
gh workflow run tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
|
||||
|
||||
echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
|
||||
sleep 120
|
||||
|
||||
echo "Getting latest run ID..."
|
||||
RUN_ID=$(gh run list --workflow=tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
|
||||
|
||||
echo "Watching run ID: $RUN_ID"
|
||||
gh run watch "$RUN_ID"
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -0,0 +1,78 @@
|
||||
name: Debug Discourse Posting
|
||||
|
||||
on:
|
||||
push:
|
||||
|
||||
jobs:
|
||||
test-discourse-post:
|
||||
runs-on: ubuntu-latest
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- name: Post test message to Discourse
|
||||
uses: ./.github/workflows/post-to-discourse
|
||||
with:
|
||||
discourse-url: ${{ vars.DISCOURSE_URL }}
|
||||
api-key: ${{ secrets.DISCOURSE_API_KEY }}
|
||||
api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
|
||||
topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
|
||||
message: |
|
||||
## 🧪 Test Post from GitHub Actions
|
||||
|
||||
**This is a test post to verify Discourse integration**
|
||||
|
||||
- **Workflow**: ${{ github.workflow }}
|
||||
- **Run Number**: #${{ github.run_number }}
|
||||
- **Branch**: `${{ github.ref_name }}`
|
||||
- **Commit**: ${{ github.sha }}
|
||||
- **Actor**: @${{ github.actor }}
|
||||
- **Timestamp**: ${{ github.event.head_commit.timestamp }}
|
||||
|
||||
---
|
||||
|
||||
### Fake Build Info (for testing)
|
||||
- **Version**: 0.9.8-test
|
||||
- **Build**: #42
|
||||
- **Branch**: release-test
|
||||
|
||||
[View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
|
||||
|
||||
*This is an automated test message. Drive safe! 🚗💨*
|
||||
|
||||
|
||||
- name: Create topic on Discourse
|
||||
uses: ./.github/workflows/post-to-discourse
|
||||
with:
|
||||
discourse-url: ${{ vars.DISCOURSE_URL }}
|
||||
api-key: ${{ secrets.DISCOURSE_API_KEY }}
|
||||
api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
|
||||
#topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
|
||||
category-id: 4
|
||||
title: "This is a test of a new topic instead of a reply"
|
||||
message: |
|
||||
## 🧪 Test Post from GitHub Actions
|
||||
|
||||
**This is a test post to verify Discourse integration**
|
||||
|
||||
- **Workflow**: ${{ github.workflow }}
|
||||
- **Run Number**: #${{ github.run_number }}
|
||||
- **Branch**: `${{ github.ref_name }}`
|
||||
- **Commit**: ${{ github.sha }}
|
||||
- **Actor**: @${{ github.actor }}
|
||||
- **Timestamp**: ${{ github.event.head_commit.timestamp }}
|
||||
|
||||
---
|
||||
|
||||
### Fake Build Info (for testing)
|
||||
- **Version**: 0.9.8-test
|
||||
- **Build**: #42
|
||||
- **Branch**: release-test
|
||||
|
||||
[View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
|
||||
|
||||
*This is an automated test message. Drive safe! 🚗💨*
|
||||
- name: Display results
|
||||
if: always()
|
||||
run: |
|
||||
echo "::notice::Discourse post test completed"
|
||||
echo "Check your Discourse topic to verify the post appeared correctly"
|
||||
@@ -0,0 +1,243 @@
|
||||
name: tests
|
||||
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request:
|
||||
workflow_dispatch:
|
||||
workflow_call:
|
||||
inputs:
|
||||
run_number:
|
||||
default: '1'
|
||||
required: true
|
||||
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
|
||||
|
||||
env:
|
||||
CI: 1
|
||||
PYTHONPATH: ${{ github.workspace }}
|
||||
GIT_CONFIG_COUNT: 1
|
||||
GIT_CONFIG_KEY_0: lfs.fetchexclude
|
||||
GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx
|
||||
|
||||
jobs:
|
||||
build_release:
|
||||
name: build release
|
||||
runs-on: ${{
|
||||
(github.repository == 'commaai/openpilot') &&
|
||||
((github.event_name != 'pull_request') ||
|
||||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
env:
|
||||
STRIPPED_DIR: /tmp/releasepilot
|
||||
PYTHONPATH: /tmp/releasepilot
|
||||
steps:
|
||||
- uses: actions/checkout@v7
|
||||
with:
|
||||
submodules: true
|
||||
- name: Getting LFS files
|
||||
uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
|
||||
with:
|
||||
timeout_minutes: 2
|
||||
max_attempts: 3
|
||||
command: git lfs pull
|
||||
- name: Build devel
|
||||
timeout-minutes: 3
|
||||
run: TARGET_DIR=$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: ${{ env.STRIPPED_DIR }}
|
||||
run: tools/release/check-dirty.sh
|
||||
- name: Check submodules
|
||||
if: github.repository == 'sunnypilot/sunnypilot'
|
||||
timeout-minutes: 3
|
||||
run: |
|
||||
if [ "${{ github.ref }}" != "refs/heads/master" ]; then
|
||||
git fetch origin master:refs/remotes/origin/master
|
||||
|
||||
SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
|
||||
if git ls-files --stage "$path" | grep -q "^160000"; then
|
||||
echo "$path"
|
||||
fi
|
||||
done | tr '\n' ' ')
|
||||
|
||||
if [ -n "$SUBMODULE_PATHS" ]; then
|
||||
echo "Changed submodule paths: $SUBMODULE_PATHS"
|
||||
export SUBMODULE_PATHS="$SUBMODULE_PATHS"
|
||||
export CHECK_PR_REFS=true
|
||||
fi
|
||||
fi
|
||||
tools/release/check-submodules.sh
|
||||
|
||||
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
|
||||
- run: ./tools/op.sh setup
|
||||
- name: Install raylib headless dependencies
|
||||
if: ${{ !contains(runner.name, 'nsc') }}
|
||||
run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
|
||||
- name: Build openpilot
|
||||
run: scons
|
||||
- name: Run unit tests
|
||||
timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 999 }}
|
||||
env:
|
||||
RAYLIB_BACKEND: headless
|
||||
run: tools/op.sh test
|
||||
|
||||
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 }}
|
||||
continue-on-error: ${{ github.ref == 'refs/heads/master' }}
|
||||
run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
|
||||
- name: Print diff
|
||||
id: print-diff
|
||||
if: always()
|
||||
run: cat openpilot/selfdrive/test/process_replay/diff.txt
|
||||
- name: Print diff report
|
||||
if: always()
|
||||
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 == 'sunnypilot/sunnypilot' && github.ref == 'refs/heads/master'
|
||||
uses: actions/checkout@v7
|
||||
with:
|
||||
repository: sunnypilot/ci-artifacts
|
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
|
||||
path: ${{ github.workspace }}/ci-artifacts
|
||||
- name: Prepare refs
|
||||
if: github.repository == 'sunnypilot/sunnypilot' && 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 == 'sunnypilot/sunnypilot' && 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
|
||||
|
||||
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'))
|
||||
&& fromJSON('["namespace-profile-amd64-8x16"]')
|
||||
|| fromJSON('["ubuntu-24.04"]') }}
|
||||
if: false # FIXME: Started to timeout recently
|
||||
steps:
|
||||
- uses: actions/checkout@v7
|
||||
- run: ./tools/op.sh setup
|
||||
- name: Build openpilot
|
||||
run: scons
|
||||
- name: Driving test
|
||||
timeout-minutes: 2
|
||||
env:
|
||||
# MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
|
||||
EGL_PLATFORM: surfaceless
|
||||
run: python openpilot/tools/sim/tests/test_metadrive_bridge.py
|
||||
|
||||
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: Install raylib headless dependencies
|
||||
if: ${{ !contains(runner.name, 'nsc') }}
|
||||
run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
|
||||
- name: Build openpilot
|
||||
run: scons
|
||||
- name: Create UI Report
|
||||
env:
|
||||
RAYLIB_BACKEND: headless
|
||||
run: |
|
||||
python3 openpilot/selfdrive/ui/tests/diff/replay.py
|
||||
python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
|
||||
- name: Upload UI Report
|
||||
uses: actions/upload-artifact@v7
|
||||
with:
|
||||
name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
|
||||
path: openpilot/selfdrive/ui/tests/diff/report
|
||||
@@ -0,0 +1,176 @@
|
||||
name: "ui preview"
|
||||
on:
|
||||
push:
|
||||
branches:
|
||||
- master
|
||||
pull_request_target:
|
||||
types: [assigned, opened, synchronize, reopened, edited]
|
||||
branches:
|
||||
- 'master'
|
||||
paths:
|
||||
- 'openpilot/selfdrive/assets/**'
|
||||
- 'openpilot/selfdrive/ui/**'
|
||||
- 'openpilot/system/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 }}-ui-preview"
|
||||
REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
|
||||
|
||||
# variant:video_prefix:master_branch
|
||||
VARIANTS: "mici:mici_ui_replay:openpilot_master_ui_mici_raylib big:tizi_ui_replay:openpilot_master_ui_big_raylib"
|
||||
|
||||
jobs:
|
||||
preview:
|
||||
if: false # tmp disable due to GH API rate limiting flakiness
|
||||
#if: github.repository == 'sunnypilot/sunnypilot'
|
||||
name: preview
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 20
|
||||
permissions:
|
||||
contents: read
|
||||
pull-requests: write
|
||||
actions: read
|
||||
steps:
|
||||
- uses: actions/checkout@v7
|
||||
with:
|
||||
submodules: true
|
||||
|
||||
- name: Waiting for ui generation to end
|
||||
uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
|
||||
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
|
||||
uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
|
||||
with:
|
||||
github_token: ${{ secrets.GITHUB_TOKEN }}
|
||||
run_id: ${{ steps.get_run_id.outputs.run_id }}
|
||||
search_artifacts: true
|
||||
name: ui-report-1-${{ env.REPORT_NAME }}
|
||||
path: ${{ github.workspace }}/pr_ui
|
||||
|
||||
- name: Getting mici master ui
|
||||
uses: actions/checkout@v7
|
||||
with:
|
||||
repository: sunnypilot/ci-artifacts
|
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
|
||||
path: ${{ github.workspace }}/master_mici
|
||||
ref: openpilot_master_ui_mici_raylib
|
||||
|
||||
- name: Getting big master ui
|
||||
uses: actions/checkout@v7
|
||||
with:
|
||||
repository: sunnypilot/ci-artifacts
|
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
|
||||
path: ${{ github.workspace }}/master_big
|
||||
ref: openpilot_master_ui_big_raylib
|
||||
|
||||
- name: Saving new master ui
|
||||
if: github.ref == 'refs/heads/master' && github.event_name == 'push'
|
||||
run: |
|
||||
for variant in $VARIANTS; do
|
||||
IFS=':' read -r name video branch <<< "$variant"
|
||||
master_dir="${{ github.workspace }}/master_${name}"
|
||||
cd "$master_dir"
|
||||
git checkout --orphan=new_branch
|
||||
git rm -rf *
|
||||
git branch -D "$branch"
|
||||
git branch -m "$branch"
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
cp "${{ github.workspace }}/pr_ui/${video}.mp4" .
|
||||
git add .
|
||||
git commit -m "${name} video for commit ${{ env.SHA }}"
|
||||
git push origin "$branch" --force
|
||||
done
|
||||
|
||||
- name: Setup FFmpeg
|
||||
uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3
|
||||
|
||||
- name: Finding diffs
|
||||
if: github.event_name == 'pull_request_target'
|
||||
id: find_diff
|
||||
run: |
|
||||
export PYTHONPATH=${{ github.workspace }}
|
||||
baseurl="https://github.com/sunnypilot/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
|
||||
|
||||
COMMENT=""
|
||||
for variant in $VARIANTS; do
|
||||
IFS=':' read -r name video _ <<< "$variant"
|
||||
diff_name="${name}_diff"
|
||||
|
||||
mv "${{ github.workspace }}/pr_ui/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_proposed.mp4"
|
||||
cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
|
||||
|
||||
diff_exit_code=0
|
||||
python3 ${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/diff.py \
|
||||
"${{ github.workspace }}/pr_ui/${video}_master.mp4" \
|
||||
"${{ github.workspace }}/pr_ui/${video}_proposed.mp4" \
|
||||
"${diff_name}.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
|
||||
|
||||
cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
|
||||
cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
|
||||
|
||||
REPORT_URL="https://sunnypilot.github.io/ci-artifacts/${diff_name}_pr_${{ github.event.number }}.html"
|
||||
if [ $diff_exit_code -eq 0 ]; then
|
||||
COMMENT+="**${name}**: Videos are identical! [View Diff Report]($REPORT_URL)"$'\n'
|
||||
else
|
||||
COMMENT+="**${name}**: ⚠️ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"$'\n'
|
||||
fi
|
||||
done
|
||||
|
||||
{
|
||||
echo "COMMENT<<EOF"
|
||||
echo "$COMMENT"
|
||||
echo "EOF"
|
||||
} >> "$GITHUB_OUTPUT"
|
||||
|
||||
- name: Saving proposed ui
|
||||
if: github.event_name == 'pull_request_target'
|
||||
working-directory: ${{ github.workspace }}/master_mici
|
||||
run: |
|
||||
git config user.name "GitHub Actions Bot"
|
||||
git config user.email "<>"
|
||||
git checkout --orphan=${{ env.BRANCH_NAME }}
|
||||
git rm -rf *
|
||||
mv ${{ github.workspace }}/pr_ui/* .
|
||||
git add .
|
||||
git commit -m "ui videos for PR #${{ github.event.number }}"
|
||||
git push origin ${{ env.BRANCH_NAME }} --force
|
||||
|
||||
# Append diff reports to report files branch
|
||||
git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
|
||||
git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
|
||||
for variant in $VARIANTS; do
|
||||
IFS=':' read -r name _ _ <<< "$variant"
|
||||
diff_name="${name}_diff"
|
||||
cp "${{ github.workspace }}/openpilot/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
|
||||
git add "${diff_name}_pr_${{ github.event.number }}.html"
|
||||
done
|
||||
git commit -m "ui diff reports for PR #${{ github.event.number }}" || echo "No changes to commit"
|
||||
git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
|
||||
|
||||
- name: Comment on PR
|
||||
if: github.event_name == 'pull_request_target'
|
||||
uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
|
||||
with:
|
||||
message: |
|
||||
<!-- _(run_id_ui_preview **${{ github.run_id }}**)_ -->
|
||||
## UI Preview
|
||||
${{ steps.find_diff.outputs.COMMENT }}
|
||||
comment-tag: run_id_ui_preview
|
||||
pr-number: ${{ github.event.number }}
|
||||
github-token: ${{ secrets.GITHUB_TOKEN }}
|
||||
@@ -0,0 +1,52 @@
|
||||
name: 'Wait for Tests'
|
||||
description: 'Action to wait for workflow tests to start and complete'
|
||||
inputs:
|
||||
workflow:
|
||||
description: 'The workflow file name to monitor'
|
||||
required: true
|
||||
default: 'tests.yaml'
|
||||
branch:
|
||||
description: 'The branch to monitor (defaults to current branch)'
|
||||
required: false
|
||||
default: ''
|
||||
github-token:
|
||||
description: 'GitHub token for API access'
|
||||
required: true
|
||||
wait-time:
|
||||
description: 'Initial sleep time in seconds before monitoring starts'
|
||||
required: false
|
||||
default: '30'
|
||||
should-wait-for-start:
|
||||
description: 'Whether to wait for tests to start'
|
||||
required: false
|
||||
default: false
|
||||
|
||||
runs:
|
||||
using: 'composite'
|
||||
steps:
|
||||
- name: Wait for tests to start
|
||||
if: inputs.should-wait-for-start == 'true'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Sleeping for ${{ inputs.wait-time }} seconds to give some time for the action to start and then we'll wait"
|
||||
sleep ${{ inputs.wait-time }}
|
||||
|
||||
- name: Wait for tests to finish
|
||||
shell: bash
|
||||
run: |
|
||||
BRANCH="${{ inputs.branch || github.head_ref || github.ref_name }}"
|
||||
|
||||
echo "Looking for workflow runs of ${{ inputs.workflow }} on branch $BRANCH"
|
||||
RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
|
||||
echo "Watching run ID: $RUN_ID"
|
||||
gh run watch "$RUN_ID"
|
||||
|
||||
CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion')
|
||||
echo "Run concluded with: $CONCLUSION"
|
||||
|
||||
if [[ "$CONCLUSION" != "success" ]]; then
|
||||
echo "❌ Workflow run failed with conclusion: $CONCLUSION"
|
||||
exit 1
|
||||
fi
|
||||
env:
|
||||
GITHUB_TOKEN: ${{ inputs.github-token }}
|
||||
Reference in New Issue
Block a user