Merge branch 'upstream/openpilot/master-20231016-sync' into master-20231016

# Conflicts:
#	cereal
#	panda
#	selfdrive/car/hyundai/interface.py
#	selfdrive/car/hyundai/values.py
#	selfdrive/car/subaru/values.py
#	selfdrive/controls/controlsd.py
#	selfdrive/controls/plannerd.py
#	selfdrive/monitoring/dmonitoringd.py

.github/labeler.yaml

@@ -1,8 +1,6 @@
 CI / testing:
   - all:
-    - changed-files: ['.github/**']
-  - all:
-    - changed-files: ['**/test_*']
+    - changed-files: ['.github/**', '**/test_*', 'Jenkinsfile']
 
 car: 
   - all:
@@ -59,3 +57,9 @@ multilanguage:
   - all:
     - changed-files: ['selfdrive/ui/translations/**']
 
+research:
+  - all:
+    - changed-files: [
+        'selfdrive/modeld/models/**',
+        'selfdrive/test/process_replay/model_replay_ref_commit',
+      ]

.github/workflows/badges.yaml

@@ -15,7 +15,7 @@ jobs:
     runs-on: ubuntu-20.04
     if: github.repository == 'commaai/openpilot'
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry

.github/workflows/docs.yaml

@@ -0,0 +1,62 @@
+name: docs
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+concurrency:
+  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  BASE_IMAGE: openpilot-base
+
+  BUILD: selfdrive/test/docker_build.sh base
+
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+
+jobs:
+  docs:
+    name: build docs
+    runs-on: ubuntu-20.04
+    timeout-minutes: 45
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Build docs
+      run: |
+        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make html"
+
+    - uses: actions/checkout@v4
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      with:
+        path: openpilot-docs
+        ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
+        repository: commaai/openpilot-docs
+    - name: Push
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      run: |
+        set -x
+
+        source release/identity.sh
+
+        cd openpilot-docs
+
+        git checkout --orphan tmp
+        git rm -rf --cached .
+
+        cp -r ../build/docs/html/ docs/
+        touch docs/.nojekyll
+        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 gh-pages

.github/workflows/labeler.yaml

@@ -9,7 +9,7 @@ jobs:
       pull-requests: write
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: false
     - uses: actions/labeler@v5.0.0-alpha.1

.github/workflows/prebuilt.yaml

@@ -5,7 +5,7 @@ on:
   workflow_dispatch:
 
 env:
-  DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh prebuilt
 
 jobs:
@@ -24,10 +24,11 @@ jobs:
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
         check-regexp: ^((?!.*(build master-ci).*).)*$
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
+    - run: git lfs pull
     - name: Build and Push docker image
       run: |
-        $DOCKER_GHCR_LOGIN
+        $DOCKER_LOGIN
         eval "$BUILD"

.github/workflows/release.yaml

@@ -1,7 +1,7 @@
 name: release
 on:
   schedule:
-    - cron: '0 * * * *'
+    - cron: '0 10 * * *'
   workflow_dispatch:
 
 jobs:
@@ -27,7 +27,7 @@ jobs:
         wait-interval: 30
         running-workflow-name: 'build master-ci'
         check-regexp: ^((?!.*(build prebuilt).*).)*$
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
         fetch-depth: 0

.github/workflows/repo-maintenance.yaml

@@ -12,7 +12,7 @@ jobs:
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: poetry lock
       run: |
         pip install poetry

.github/workflows/selfdrive_tests.yaml

@@ -16,8 +16,7 @@ env:
   CL_BASE_IMAGE: openpilot-base-cl
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
-  DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  DOCKER_HUB_LOGIN: docker login -u adeebshihadeh -p ${{ secrets.DOCKER_HUB_PAT }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
   RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
@@ -36,9 +35,10 @@ jobs:
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
+    - run: git lfs pull
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
@@ -66,145 +66,48 @@ jobs:
         cp pyproject.toml $STRIPPED_DIR
         cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all"
 
   build:
     strategy:
       matrix:
-        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') || 
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
     runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    # login only on arm machines, due to buildjet rate limits
-    - name: Setup docker
-      if: contains(runner.name, 'buildjet')
-      run: |
-        $DOCKER_HUB_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
         cache_key_prefix: scons_${{ matrix.arch }}
     - uses: ./.github/workflows/compile-openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
       with:
         cache_key_prefix: scons_${{ matrix.arch }}
 
-  build_mac:
-    name: build macos
-    runs-on: macos-latest
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - name: Determine pre-existing Homebrew packages
-      if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: |
-        echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
-        brew list --formula -1 >> $GITHUB_ENV
-        echo 'EOF' >> $GITHUB_ENV
-    - name: Restore scons cache
-      id: scons-restore-cache
-      uses: actions/cache/restore@v3
-      with:
-        path: /tmp/scons_cache
-        key: macos_scons-${{ github.sha }}
-        restore-keys: macos_scons-
-    - name: Cache dependencies
-      id: dependency-cache
-      uses: actions/cache@v3
-      with:
-        path: |
-          .env
-          .venv
-          ~/github_brew_cache_entries.txt
-          ~/.pyenv
-          ~/Library/Caches/pypoetry
-          /usr/local/Cellar
-          /usr/local/opt
-          /usr/local/Caskroom/gcc-arm-*
-          /opt/homebrew/Cellar
-          /opt/homebrew/opt
-          /opt/homebrew/Caskroom/gcc-arm-*
-          /Applications/ArmGNUToolchain/*/*/*
-        key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'tools/install_python_dependencies.sh', 'poetry.lock') }}
-        restore-keys: macos_deps-
-    - name: Brew link restored dependencies
-      run: |
-        if [ -f ~/github_brew_cache_entries.txt ]; then
-          brew link --force --overwrite $(cat ~/github_brew_cache_entries.txt) # `--force` for keg-only packages
-          if [ -d /Applications/ArmGNUToolchain ]; then # link gcc-arm-embedded manually
-            GCC_TOOLCHAIN="$(echo /Applications/ArmGNUToolchain/**/**/bin)"
-            echo "$GCC_TOOLCHAIN" >> $GITHUB_PATH
-          fi
-        else
-          echo "Cache entries not found"
-        fi
-    - name: Install dependencies
-      if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: ./tools/mac_setup.sh
-      env:
-        # package install has DeprecationWarnings
-        PYTHONWARNINGS: default
-    - name: Build openpilot
-      run: |
-        eval "$(pyenv init --path)"
-        poetry run scons -j$(nproc)
-    - name: Run tests
-      run: |
-        eval "$(pyenv init --path)"
-        poetry run tools/plotjuggler/test_plotjuggler.py
-    - name: Pre Cache - Cleanup scons cache
-      if: github.ref == 'refs/heads/master'
-      run: |
-        rm -rf /tmp/scons_cache/*
-        eval "$(pyenv init --path)"
-        poetry run scons -j$(nproc) --cache-populate
-    - name: Save scons cache
-      id: scons-save-cache
-      uses: actions/cache/save@v3
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: /tmp/scons_cache
-        key: macos_scons-${{ github.sha }}
-    - name: Pre Cache - Remove pre-existing Homebrew packages
-      if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: |
-        new_cellar=$(brew list --formula -1)
-        exceptions="zstd lz4 xz" # caching step needs zstd
-        comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
-          if [[ " $exceptions " != *" $pkg "* ]]; then
-            rm -rf "$(brew --cellar)/$pkg"
-          fi
-        done
-        comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
-        # .fseventsd directory causes permission errors in dep caching step
-        # its used by the system to observe changes within the directory - toolchain works without it, just remove it
-        sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd
-
   docker_push:
+    name: docker push
     strategy:
       matrix:
         arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
     runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
     - name: Setup to push to repo
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
-        $DOCKER_GHCR_LOGIN
-    # login only on arm machines, due to buildjet rate limits
-    - name: Additional setup for buildjet
-      if: contains(runner.name, 'buildjet')
-      run: |
-        $DOCKER_HUB_LOGIN
+        $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
       with:
-        git-lfs: false
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Build and push CL Docker image
       if: matrix.arch == 'x86_64'
       run: |
@@ -217,12 +120,12 @@ jobs:
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     needs: [docker_push]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: false
     - name: Setup docker
       run: |
-        $DOCKER_GHCR_LOGIN
+        $DOCKER_LOGIN
     - name: Merge x64 and arm64 tags
       run: |
         export PUSH_IMAGE=true
@@ -232,11 +135,10 @@ jobs:
     name: static analysis
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup-with-retry
     - name: pre-commit
       timeout-minutes: 4
       run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
@@ -245,7 +147,7 @@ jobs:
     name: valgrind
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
@@ -263,7 +165,7 @@ jobs:
     name: unit tests
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
@@ -271,10 +173,9 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
-      timeout-minutes: 40
+      timeout-minutes: 15
       run: |
-        ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \
+        ${{ env.RUN }} "$PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \
@@ -285,12 +186,16 @@ jobs:
 
   process_replay:
     name: process replay
-    runs-on: ${{ ((github.event.pull_request.head.repo.full_name == 'commaai/openpilot') || (github.repository == 'commaai/openpilot')) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
@@ -310,7 +215,7 @@ jobs:
       id: print-diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v2
+    - uses: actions/upload-artifact@v3
       if: always()
       continue-on-error: true
       with:
@@ -323,11 +228,38 @@ jobs:
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
 
+  regen:
+    name: regen
+    runs-on: 'ubuntu-20.04'
+    steps: 
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Cache test routes
+      id: dependency-cache
+      uses: actions/cache@v3
+      with:
+        path: .ci_cache/comma_download_cache
+        key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
+    - name: Build base Docker image
+      run: eval "$BUILD"
+    - name: Build Docker image
+      run: eval "$BUILD_CL"
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run regen
+      timeout-minutes: 30
+      run: |
+        ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST -n auto --dist=loadscope selfdrive/test/process_replay/test_regen.py && \
+                           chmod -R 777 /tmp/comma_download_cache"
+
   test_modeld:
     name: model tests
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
@@ -363,7 +295,7 @@ jobs:
       matrix:
         job: [0, 1, 2, 3, 4]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
@@ -391,19 +323,21 @@ jobs:
     runs-on: ubuntu-20.04
     if: github.event_name == 'pull_request'
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: true
           ref: ${{ github.event.pull_request.base.ref }}
+      - run: git lfs pull
       - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
           ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
           sudo chown -R $USER:$USER ${{ github.workspace }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: true
           path: current
+      - run: cd current && git lfs pull
       - name: Save car docs diff
         id: save_diff
         run: |

.github/workflows/setup-with-retry/action.yaml

@@ -1,10 +1,10 @@
 name: 'openpilot env setup, with retry on failure'
 
 inputs:
-  git_lfs:
-    description: 'Whether or not to pull the git lfs'
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
     required: false
-    default: 'true'
+    default: ''
   cache_key_prefix:
     description: 'Prefix for caching key'
     required: false
@@ -21,7 +21,7 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
-        git_lfs: ${{ inputs.git_lfs }}
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup1.outcome == 'failure'
@@ -32,7 +32,7 @@ runs:
       uses: ./.github/workflows/setup
       continue-on-error: true
       with:
-        git_lfs: ${{ inputs.git_lfs }}
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true
     - if: steps.setup2.outcome == 'failure'
@@ -42,6 +42,6 @@ runs:
       if: steps.setup2.outcome == 'failure'
       uses: ./.github/workflows/setup
       with:
-        git_lfs: ${{ inputs.git_lfs }}
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
         cache_key_prefix: ${{ inputs.cache_key_prefix }}
         is_retried: true

.github/workflows/setup/action.yaml

@@ -1,13 +1,13 @@
 name: 'openpilot env setup'
 
 inputs:
-  git_lfs:
-    description: 'Whether or not to pull the git lfs'
-    required: false
-    default: 'true'
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: true
+    default: ''
   cache_key_prefix:
     description: 'Prefix for caching key'
-    required: false
+    required: true
     default: 'scons_x86_64'
   is_retried:
     description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
@@ -26,9 +26,21 @@ runs:
 
     # do this after checkout to ensure our custom LFS config is used to pull from GitLab
     - shell: bash
-      if: ${{ inputs.git_lfs == 'true' }}
       run: git lfs pull
 
+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
     # build cache
     - id: date
       shell: bash

.github/workflows/tools_tests.yaml

@@ -13,7 +13,7 @@ concurrency:
 env:
   BASE_IMAGE: openpilot-base
   CL_BASE_IMAGE: openpilot-base-cl
-  DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
 
   BUILD: selfdrive/test/docker_build.sh base
 
@@ -30,7 +30,7 @@ jobs:
     runs-on: ubuntu-20.04
     timeout-minutes: 45
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
@@ -48,7 +48,7 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     timeout-minutes: 45
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
@@ -58,43 +58,34 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_GHCR_LOGIN
+        $DOCKER_LOGIN
     - name: Build and push sim image
       run: |
         selfdrive/test/docker_build.sh sim
 
-  docs:
-    name: build docs
-    runs-on: ubuntu-20.04
-    timeout-minutes: 45
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-      with:
-        git_lfs: false
-    - name: Setup to push to repo
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-      run: |
-        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        $DOCKER_GHCR_LOGIN
-    - name: Build and push docs image
-      run: |
-        selfdrive/test/docker_build.sh docs
-
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Use local image for testing devcontainer with latest base image
+      run: |
+        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
     - name: Setup Dev Container CLI
       run: npm install -g @devcontainers/cli
     - name: Build dev container image
       run: devcontainer build --workspace-folder .
     - name: Run dev container
-      run: devcontainer up --workspace-folder .
+      run: |
+        mkdir -p /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/
+        devcontainer up --workspace-folder .
     - name: Test environment
-      run: devcontainer exec --workspace-folder . scons --dry-run
+      run: |
+        devcontainer exec --workspace-folder . scons -j$(nproc)
+        devcontainer exec --workspace-folder . pip install pip-install-test
+        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
+        devcontainer exec --workspace-folder . sudo touch /root/test.txt