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Merge remote-tracking branch 'origin/master' into deep-rl

Browse Source 
# Conflicts:
#	openpilot/sunnypilot/modeld_v2/compile_modeld.py
#	openpilot/sunnypilot/modeld_v2/modeld.py
#	openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
#	openpilot/sunnypilot/modeld_v2/tests/test_warp.py
#	openpilot/sunnypilot/modeld_v2/warp.py
#	openpilot/sunnypilot/models/manager.py
#	openpilot/sunnypilot/models/runners/helpers.py
#	openpilot/sunnypilot/models/runners/model_runner.py
#	openpilot/sunnypilot/models/runners/tinygrad/model_types.py
#	openpilot/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
#	sunnypilot/models/helpers.py
This commit is contained in:
nayan
2026-07-25 16:12:52 -04:00
parent 76b21c72cf fd22de1c9a
commit bb1b9a27d8
1595 changed files with 11605 additions and 13819 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.github/workflows/auto_pr_review.yaml
+2 -2
View File
@@ -12,7 +12,7 @@ jobs:
issues: write
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v6
- uses: actions/checkout@v7
with:
submodules: false
@@ -24,7 +24,7 @@ jobs:
# Check PR target branch
- name: check branch
uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
uses: Vankka/pr-target-branch-action@5da68a42bcb7b43d39104295a876a6f3f8d7908b
if: github.repository == 'sunnypilot/sunnypilot'
env:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
.github/workflows/badges.yaml
-35
View File
@@ -1,35 +0,0 @@
name: badges
on:
schedule:
- cron: '0 * * * *'
workflow_dispatch:
env:
PYTHONPATH: ${{ github.workspace }}
jobs:
badges:
name: create badges
runs-on: ubuntu-latest
if: github.repository == 'sunnypilot/sunnypilot'
permissions:
contents: write
steps:
- uses: actions/checkout@v6
with:
submodules: true
- run: ./tools/op.sh setup
- name: Push badges
run: |
python3 selfdrive/ui/translations/create_badges.py
rm .gitattributes
git checkout --orphan badges
git rm -rf --cached .
git config user.email "badge-researcher@sunnypilot.ai"
git config user.name "Badge Researcher"
git add translation_badge.svg
git commit -m "Add/Update badges"
git push -f origin HEAD
.github/workflows/build-all-tinygrad-models.yaml
+1 -1
View File
@@ -30,7 +30,7 @@ jobs:
run: |
cd sunnypilot
export PYTHONPATH=$(pwd)
ref=$(python3 sunnypilot/models/tinygrad_ref.py)
ref=$(python3 openpilot/sunnypilot/models/tinygrad_ref.py)
echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
echo "tinygrad_ref is $ref"
.github/workflows/cereal_validation.yaml
+46 -14
View File
@@ -6,7 +6,7 @@ on:
- master
pull_request:
paths:
- 'cereal/**'
- 'openpilot/cereal/**'
workflow_dispatch:
workflow_call:
inputs:
@@ -30,36 +30,68 @@ jobs:
- name: Checkout sunnypilot cereal
uses: actions/checkout@v6
with:
sparse-checkout: cereal
sparse-checkout: |
openpilot/cereal
uv.lock
submodules: false
- name: Init sunnypilot opendbc submodule
run: git submodule update --init --depth 1 opendbc_repo
- name: Checkout upstream openpilot cereal
- name: Locate sunnypilot capnp import paths
id: locate-sp-capnp
run: |
SP_IMPORT_ARGS=""
SP_CAR_CAPNP=$(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" >> "$GITHUB_OUTPUT"
- name: Checkout upstream openpilot
uses: actions/checkout@v6
with:
repository: 'commaai/openpilot'
path: upstream_openpilot
sparse-checkout: cereal
ref: "refs/heads/master"
- name: Init upstream opendbc submodule
working-directory: upstream_openpilot
run: git submodule update --init --depth 1 opendbc_repo
- name: Install uv
run: pip install uv
- name: Locate upstream capnp paths
id: locate-capnp
run: |
CEREAL_DIR=$(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==${PYCAPNP_VER}"
- name: Generate sunnypilot schema
run: |
PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-g -f /tmp/sp_schema.json --cereal-dir cereal
python3 openpilot/cereal/messaging/tests/validate_sp_cereal_upstream.py \
-g -f /tmp/sp_schema.json --cereal-dir openpilot/cereal \
${{ steps.locate-sp-capnp.outputs.import_args }}
- name: Validate against upstream
run: |
PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
-r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
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 }}
.github/workflows/diff_report.yaml
+24 -12
View File
@@ -17,29 +17,41 @@ jobs:
- name: Wait for process replay
id: wait
continue-on-error: true
uses: lewagon/wait-on-check-action@v1.3.4
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'
uses: dawidd6/action-download-artifact@v6
uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c
with:
github_token: ${{ secrets.GITHUB_TOKEN }}
workflow: tests.yaml
workflow_conclusion: ''
pr: ${{ github.event.number }}
github-token: ${{ secrets.GITHUB_TOKEN }}
repository: ${{ github.repository }}
run-id: ${{ steps.tests-run.outputs.run-id }}
name: diff_report_${{ github.event.number }}
path: .
allow_forks: true
- name: Comment on PR
if: steps.wait.outcome == 'success'
uses: thollander/actions-comment-pull-request@v2
uses: thollander/actions-comment-pull-request@24bffb9b452ba05a4f3f77933840a6a841d1b32b
with:
filePath: diff_report.txt
comment_tag: diff_report
pr_number: ${{ github.event.number }}
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
file-path: diff_report.txt
comment-tag: diff_report
pr-number: ${{ github.event.number }}
github-token: ${{ secrets.GITHUB_TOKEN }}
.github/workflows/docs.yaml
+3 -3
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@@ -22,7 +22,7 @@ jobs:
steps:
- uses: commaai/timeout@v1
- uses: actions/checkout@v6
- uses: actions/checkout@v7
with:
submodules: true
@@ -34,7 +34,7 @@ jobs:
python scripts/docs.py build
# Push to docs.comma.ai
- uses: actions/checkout@v6
- uses: actions/checkout@v7
if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
with:
path: openpilot-docs
@@ -45,7 +45,7 @@ jobs:
run: |
set -x
source release/identity.sh
source tools/release/identity.sh
cd openpilot-docs
git checkout --orphan tmp
.github/workflows/jenkins-pr-trigger.yaml
+4 -4
View File
@@ -11,7 +11,7 @@ jobs:
contents: write
steps:
- name: Delete stale Jenkins branches
uses: actions/github-script@v8
uses: actions/github-script@v9
with:
script: |
const cutoff = Date.now() - 24 * 60 * 60 * 1000;
@@ -52,7 +52,7 @@ jobs:
steps:
- name: Check for trigger phrase
id: check_comment
uses: actions/github-script@v8
uses: actions/github-script@v9
with:
script: |
const triggerPhrase = "trigger-jenkins";
@@ -72,7 +72,7 @@ jobs:
- name: Checkout repository
if: steps.check_comment.outputs.result == 'true'
uses: actions/checkout@v6
uses: actions/checkout@v7
with:
ref: refs/pull/${{ github.event.issue.number }}/head
@@ -86,7 +86,7 @@ jobs:
- name: Delete trigger comment
if: steps.check_comment.outputs.result == 'true' && always()
uses: actions/github-script@v8
uses: actions/github-script@v9
with:
script: |
await github.rest.issues.deleteComment({
.github/workflows/lfs-maintenance.yaml
+14 -1
View File
@@ -65,8 +65,21 @@ jobs:
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
git lfs push --all origin
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
.github/workflows/model_review.yaml
+4 -4
View File
@@ -4,7 +4,7 @@ on:
pull_request:
types: [opened, reopened, synchronize]
paths:
- 'selfdrive/modeld/models/*.onnx'
- 'openpilot/selfdrive/modeld/models/*.onnx'
workflow_dispatch:
jobs:
@@ -16,11 +16,11 @@ jobs:
if: github.repository == 'commaai/openpilot'
steps:
- name: Checkout
uses: actions/checkout@v6
uses: actions/checkout@v7
with:
submodules: true
- name: Checkout master
uses: actions/checkout@v6
uses: actions/checkout@v7
with:
ref: master
path: base
@@ -36,7 +36,7 @@ jobs:
echo "EOF" >> $GITHUB_OUTPUT
- name: Post model report comment
uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
uses: marocchino/sticky-pull-request-comment@0ea0beb66eb9baf113663a64ec522f60e49231c0
with:
header: model-review
message: ${{ steps.report.outputs.content }}
.github/workflows/release.yaml
+3 -3
View File
@@ -15,17 +15,17 @@ jobs:
steps:
- name: Wait for green check mark
if: ${{ github.event_name == 'schedule' }}
uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
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
- 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 release/build_stripped.sh
run: BRANCH=__nightly tools/release/build_stripped.sh
.github/workflows/repo-maintenance.yaml
+56 -4
View File
@@ -3,6 +3,8 @@ name: repo maintenance
on:
schedule:
- cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
pull_request:
types: [closed]
workflow_dispatch:
env:
@@ -12,9 +14,11 @@ jobs:
package_updates:
name: package_updates
runs-on: ubuntu-latest
if: github.repository == 'sunnypilot/sunnypilot'
if: >-
github.repository == 'sunnypilot/sunnypilot' &&
(github.event_name == 'schedule' || github.event_name == 'workflow_dispatch')
steps:
- uses: actions/checkout@v6
- uses: actions/checkout@v7
with:
submodules: true
- run: ./tools/op.sh setup
@@ -50,10 +54,10 @@ jobs:
git add .
- name: update car docs
run: |
python selfdrive/car/docs.py
python openpilot/selfdrive/car/docs.py
git add docs/CARS.md
- name: Create Pull Request
uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0
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 }}
@@ -75,3 +79,51 @@ jobs:
${{ steps.pip_tree.outputs.PIP_TREE }}
```
labels: bot
cleanup_closed_branches:
if: github.repository == 'commaai/openpilot'
runs-on: ubuntu-latest
permissions:
contents: write
pull-requests: read
steps:
- uses: actions/github-script@v9
with:
script: |
const { owner, repo } = context.repo;
const upstream = `${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;
}
}
}
.github/workflows/sunnypilot-build-model.yaml
+10 -5
View File
@@ -6,7 +6,7 @@ env:
SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
UPSTREAM_REPO: "commaai/openpilot"
TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
MODELS_DIR: ${{ github.workspace }}/openpilot/selfdrive/modeld/models
on:
workflow_call:
@@ -105,7 +105,7 @@ jobs:
uses: actions/upload-artifact@v4
with:
name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
path: ${{ github.workspace }}/openpilot/openpilot/selfdrive/modeld/models/*.onnx
build_model:
runs-on: [self-hosted, tici]
@@ -141,7 +141,10 @@ jobs:
# Set up common environment
source /etc/profile;
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
export UV_PYTHON_PREFERENCE=managed
export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
uv sync
printenv >> $GITHUB_ENV
if [[ "${{ runner.debug }}" == "1" ]]; then
cat $GITHUB_OUTPUT
@@ -161,6 +164,7 @@ jobs:
if [[ "${{ 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 ${{ env.MODELS_DIR }}/*.onnx
@@ -168,9 +172,9 @@ jobs:
uses: actions/download-artifact@v4
with:
name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
path: ${{ github.workspace }}/selfdrive/modeld/models
path: ${{ env.MODELS_DIR }}
- run: |
rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
- name: Build Model
run: |
@@ -179,7 +183,7 @@ jobs:
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
COMPILE_MODELD="${{ github.workspace }}/sunnypilot/modeld_v2/compile_modeld.py"
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}')")
@@ -278,4 +282,5 @@ jobs:
- name: Re-enable powersave
if: always()
run: |
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
.github/workflows/sunnypilot-build-prebuilt.yaml
+21 -11
View File
@@ -79,7 +79,7 @@ jobs:
is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
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}" >> $GITHUB_OUTPUT
fi
@@ -152,7 +152,10 @@ jobs:
# Set up common environment
source /etc/profile;
export UV_PROJECT_ENVIRONMENT=${HOME}/venv
export UV_PYTHON_PREFERENCE=managed
export UV_PYTHON_INSTALL_DIR=${HOME}/uv/python
export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
uv sync
printenv >> $GITHUB_ENV
if [[ "${{ runner.debug }}" == "1" ]]; then
cat $GITHUB_OUTPUT
@@ -172,20 +175,26 @@ jobs:
if [[ "${{ 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"
./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
./tools/release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
cd $BUILD_DIR
ln -sfn msgq_repo/msgq msgq
ln -sfn opendbc_repo/opendbc opendbc
ln -sfn rednose_repo/rednose rednose
ln -sfn teleoprtc_repo/teleoprtc teleoprtc
ln -sfn tinygrad_repo/tinygrad tinygrad
sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
echo "Building sunnypilot's modeld_v2..."
scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/modeld_v2
echo "Building sunnypilot's locationd..."
scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/sunnypilot/selfdrive/locationd
echo "Building openpilot's locationd..."
scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
scons -j1 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal openpilot/selfdrive/locationd
echo "Building rest of sunnypilot"
scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
touch ${BUILD_DIR}/prebuilt
@@ -208,17 +217,17 @@ jobs:
--exclude='Jenkinsfile' \
--exclude='**/release/' \
--exclude='**/.github/' \
--exclude='**/selfdrive/ui/replay/' \
--exclude='**/openpilot/selfdrive/ui/replay/' \
--exclude='**/__pycache__/' \
--exclude='${{env.SCONS_CACHE_DIR}}' \
--exclude='**/.git/' \
--exclude='**/SConstruct' \
--exclude='**/SConscript' \
--exclude='**/.venv/' \
--exclude='selfdrive/modeld/models/*.onnx*' \
--exclude='sunnypilot/modeld*/models/*.onnx*' \
--exclude='third_party/*x86*' \
--exclude='third_party/*Darwin*' \
--exclude='openpilot/selfdrive/modeld/models/*.onnx*' \
--exclude='openpilot/sunnypilot/modeld*/models/*.onnx*' \
--exclude='openpilot/third_party/*x86*' \
--exclude='openpilot/third_party/*Darwin*' \
--delete-excluded \
--chown=comma:comma \
${BUILD_DIR}/ ${OUTPUT_DIR}/
@@ -237,6 +246,7 @@ jobs:
- name: Re-enable powersave
if: always()
run: |
source ${UV_PROJECT_ENVIRONMENT}/bin/activate
PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
@@ -363,7 +373,7 @@ jobs:
owner: context.repo.owner,
repo: context.repo.repo,
issue_number: prNumber,
name: process.env.LABEL
name: process.env.LABELf
});
console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
.github/workflows/tests.yaml
+42 -45
View File
@@ -35,27 +35,27 @@ jobs:
STRIPPED_DIR: /tmp/releasepilot
PYTHONPATH: /tmp/releasepilot
steps:
- uses: actions/checkout@v6
- uses: actions/checkout@v7
with:
submodules: true
- name: Getting LFS files
uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
with:
timeout_minutes: 2
max_attempts: 3
command: git lfs pull
- name: Build devel
timeout-minutes: 1
run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh
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 system/manager/build.py
run: python3 openpilot/system/manager/build.py
- name: Run tests
timeout-minutes: 1
working-directory: ${{ env.STRIPPED_DIR }}
run: release/check-dirty.sh
run: tools/release/check-dirty.sh
- name: Check submodules
if: github.repository == 'sunnypilot/sunnypilot'
timeout-minutes: 3
@@ -75,15 +75,13 @@ jobs:
export CHECK_PR_REFS=true
fi
fi
release/check-submodules.sh
tools/release/check-submodules.sh
build_mac:
name: build macOS
runs-on: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
steps:
- uses: actions/checkout@v6
with:
submodules: true
- uses: actions/checkout@v7
- name: Remove Homebrew from environment
run: |
FILTERED=$(echo "$PATH" | tr ':' '\n' | grep -v '/opt/homebrew' | tr '\n' ':')
@@ -101,9 +99,7 @@ jobs:
&& fromJSON('["namespace-profile-amd64-8x16"]')
|| fromJSON('["ubuntu-24.04"]') }}
steps:
- uses: actions/checkout@v6
with:
submodules: true
- uses: actions/checkout@v7
- run: ./tools/op.sh setup
- name: Static analysis
timeout-minutes: 1
@@ -118,16 +114,18 @@ jobs:
&& fromJSON('["namespace-profile-amd64-8x16"]')
|| fromJSON('["ubuntu-24.04"]') }}
steps:
- uses: actions/checkout@v6
with:
submodules: true
- 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: |
source selfdrive/test/setup_xvfb.sh
# Pre-compile Python bytecode so each pytest worker doesn't need to
$PYTEST --collect-only -m 'not slow' -qq
MAX_EXAMPLES=1 $PYTEST -m 'not slow'
@@ -142,39 +140,37 @@ jobs:
&& fromJSON('["namespace-profile-amd64-8x16"]')
|| fromJSON('["ubuntu-24.04"]') }}
steps:
- uses: actions/checkout@v6
with:
submodules: true
- 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: ${{ github.ref == 'refs/heads/master' }}
run: selfdrive/test/process_replay/test_processes.py -j$(nproc)
run: openpilot/selfdrive/test/process_replay/test_processes.py -j$(nproc)
- name: Print diff
id: print-diff
if: always()
run: cat selfdrive/test/process_replay/diff.txt
run: cat openpilot/selfdrive/test/process_replay/diff.txt
- name: Print diff report
if: always()
run: cat selfdrive/test/process_replay/diff_report.txt
- uses: actions/upload-artifact@v6
run: cat openpilot/selfdrive/test/process_replay/diff_report.txt
- uses: actions/upload-artifact@v7
if: always()
continue-on-error: true
with:
name: process_replay_diff.txt
path: selfdrive/test/process_replay/diff.txt
path: openpilot/selfdrive/test/process_replay/diff.txt
- name: Upload diff report
uses: actions/upload-artifact@v6
uses: actions/upload-artifact@v7
if: always() && github.event_name == 'pull_request'
continue-on-error: true
with:
name: diff_report_${{ github.event.number }}
path: selfdrive/test/process_replay/diff_report.txt
path: openpilot/selfdrive/test/process_replay/diff_report.txt
- name: Checkout ci-artifacts
if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
uses: actions/checkout@v4
uses: actions/checkout@v7
with:
repository: commaai/ci-artifacts
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -187,13 +183,13 @@ jobs:
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 }}/selfdrive/test/process_replay/fakedata/*.zst .
cp ${{ github.workspace }}/openpilot/selfdrive/test/process_replay/fakedata/*.zst .
echo "${{ github.sha }}" > ref_commit
git add .
git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" || echo "No changes to commit"
- name: Push refs
if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master'
uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
uses: nick-fields/retry@ad984534de44a9489a53aefd81eb77f87c70dc60
with:
timeout_minutes: 2
max_attempts: 3
@@ -203,7 +199,7 @@ jobs:
timeout-minutes: 4
env:
ONNXCPU: 1
run: $PYTEST selfdrive/test/process_replay/test_regen.py
run: $PYTEST openpilot/selfdrive/test/process_replay/test_regen.py
simulator_driving:
name: simulator driving
@@ -215,17 +211,16 @@ jobs:
|| fromJSON('["ubuntu-24.04"]') }}
if: false # FIXME: Started to timeout recently
steps:
- uses: actions/checkout@v6
with:
submodules: true
- uses: actions/checkout@v7
- run: ./tools/op.sh setup
- name: Build openpilot
run: scons
- name: Driving test
timeout-minutes: 2
run: |
source selfdrive/test/setup_xvfb.sh
pytest -s tools/sim/tests/test_metadrive_bridge.py
env:
# MetaDrive renders offscreen through panda3d's EGL pipe on llvmpipe
EGL_PLATFORM: surfaceless
run: pytest -s openpilot/tools/sim/tests/test_metadrive_bridge.py
create_ui_report:
name: Create UI Report
@@ -236,19 +231,21 @@ jobs:
&& fromJSON('["namespace-profile-amd64-8x16"]')
|| fromJSON('["ubuntu-24.04"]') }}
steps:
- uses: actions/checkout@v6
with:
submodules: true
- uses: actions/checkout@v7
- run: ./tools/op.sh setup
- name: Install raylib headless dependencies
if: ${{ !contains(runner.name, 'nsc') }}
run: sudo apt-get install -y --no-install-recommends libgles2 libegl1
- name: Build openpilot
run: scons
- name: Create UI Report
env:
RAYLIB_BACKEND: headless
run: |
source selfdrive/test/setup_xvfb.sh
python3 selfdrive/ui/tests/diff/replay.py
python3 selfdrive/ui/tests/diff/replay.py --big
python3 openpilot/selfdrive/ui/tests/diff/replay.py
python3 openpilot/selfdrive/ui/tests/diff/replay.py --big
- name: Upload UI Report
uses: actions/upload-artifact@v6
uses: actions/upload-artifact@v7
with:
name: ui-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
path: selfdrive/ui/tests/diff/report
path: openpilot/selfdrive/ui/tests/diff/report
.github/workflows/ui_preview.yaml
+17 -17
View File
@@ -8,9 +8,9 @@ on:
branches:
- 'master'
paths:
- 'selfdrive/assets/**'
- 'selfdrive/ui/**'
- 'system/ui/**'
- 'openpilot/selfdrive/assets/**'
- 'openpilot/selfdrive/ui/**'
- 'openpilot/system/ui/**'
workflow_dispatch:
env:
@@ -34,12 +34,12 @@ jobs:
pull-requests: write
actions: read
steps:
- uses: actions/checkout@v6
- uses: actions/checkout@v7
with:
submodules: true
- name: Waiting for ui generation to end
uses: lewagon/wait-on-check-action@v1.3.4
uses: lewagon/wait-on-check-action@1d57e2c51a58d812d2765e036a028b6bdb5a6154
with:
ref: ${{ env.SHA }}
check-name: ${{ env.UI_JOB_NAME }}
@@ -53,7 +53,7 @@ jobs:
echo "run_id=$(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@v6
uses: dawidd6/action-download-artifact@b6e2e70617bc3265edd6dab6c906732b2f1ae151
with:
github_token: ${{ secrets.GITHUB_TOKEN }}
run_id: ${{ steps.get_run_id.outputs.run_id }}
@@ -62,7 +62,7 @@ jobs:
path: ${{ github.workspace }}/pr_ui
- name: Getting mici master ui
uses: actions/checkout@v6
uses: actions/checkout@v7
with:
repository: sunnypilot/ci-artifacts
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -70,7 +70,7 @@ jobs:
ref: openpilot_master_ui_mici_raylib
- name: Getting big master ui
uses: actions/checkout@v6
uses: actions/checkout@v7
with:
repository: sunnypilot/ci-artifacts
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
@@ -97,7 +97,7 @@ jobs:
done
- name: Setup FFmpeg
uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
uses: AnimMouse/setup-ffmpeg@178e0b4a408f06ce40d896c3cd79f50fa6f8b0c3
- name: Finding diffs
if: github.event_name == 'pull_request_target'
@@ -115,13 +115,13 @@ jobs:
cp "${{ github.workspace }}/master_${name}/${video}.mp4" "${{ github.workspace }}/pr_ui/${video}_master.mp4"
diff_exit_code=0
python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py \
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 "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${{ github.workspace }}/pr_ui/"
cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.mp4" "${{ github.workspace }}/pr_ui/"
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
@@ -156,7 +156,7 @@ jobs:
for variant in $VARIANTS; do
IFS=':' read -r name _ _ <<< "$variant"
diff_name="${name}_diff"
cp "${{ github.workspace }}/selfdrive/ui/tests/diff/report/${diff_name}.html" "${diff_name}_pr_${{ github.event.number }}.html"
cp "${{ 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"
@@ -164,12 +164,12 @@ jobs:
- name: Comment on PR
if: github.event_name == 'pull_request_target'
uses: thollander/actions-comment-pull-request@v2
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 }}
comment-tag: run_id_ui_preview
pr-number: ${{ github.event.number }}
github-token: ${{ secrets.GITHUB_TOKEN }}