sunnypilot/.github/workflows/test_models.yml

name: Test Models Compatibility With Tinygrad Changes
on:
  pull_request:
    paths:
      - 'tinygrad_repo'
      - 'openpilot/sunnypilot/modeld_v2/**'
  workflow_dispatch:

env:
  CI: 1
  GIT_CONFIG_COUNT: 1
  GIT_CONFIG_KEY_0: lfs.fetchexclude
  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

jobs:
  plain-artifact:
    name: Plain artifact round trip and pickle converter
    runs-on: ubuntu-24.04
    env:
      PYTHONPATH: ${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}
      TINYGRAD_TESTS: 1
    steps:
      - uses: actions/checkout@v7
      - run: ./tools/op.sh setup
      - name: Build openpilot
        run: scons -j$(nproc)
      - name: Compile, load, cache and fuse a model with the pinned tinygrad
        env:
          DEV: CPU
        run: tools/op.sh test -v openpilot/sunnypilot/modeld_v2/tests/test_plain_artifact.py
      - name: Install LLVM 20 and ROCm comgr for the amd mock, as tinygrad_repo/.github/actions/setup-tinygrad does
        run: |
          . /etc/os-release
          curl -fsSL https://apt.llvm.org/llvm-snapshot.gpg.key | sudo tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc > /dev/null
          echo "deb http://apt.llvm.org/$VERSION_CODENAME/ llvm-toolchain-$VERSION_CODENAME-20 main" | sudo tee /etc/apt/sources.list.d/llvm.list
          sudo mkdir -p /etc/apt/keyrings
          curl -fsSL https://repo.radeon.com/rocm/rocm.gpg.key | gpg --dearmor | sudo tee /etc/apt/keyrings/rocm.gpg > /dev/null
          echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/rocm.gpg] https://repo.radeon.com/rocm/apt/7.1 $VERSION_CODENAME main" | sudo tee /etc/apt/sources.list.d/rocm.list
          printf 'Package: *\nPin: release o=repo.radeon.com\nPin-Priority: 600\n' | sudo tee /etc/apt/preferences.d/rocm-pin-600
          sudo apt-get -qq update && sudo apt-get -qq install -y --no-install-recommends libllvm20 clang-20 lld-20 comgr
          printf '/opt/rocm/lib\n/opt/rocm/lib64\n' | sudo tee /etc/ld.so.conf.d/rocm.conf && sudo ldconfig
          echo "/usr/lib/llvm-20/bin" >> "$GITHUB_PATH"
      - name: Convert a pickled USB+AMD jit and replay it under tinygrad's amd mock
        env:
          DEV: MOCKUSB+AMD
          CHECK_OOB: 0
          GMMU: 0
        run: tools/op.sh test -v openpilot/sunnypilot/modeld_v2/tests/test_convert_upstream_pkl.py
      - name: Where tinygrad moved, for the helper or failure point named above
        if: failure() && github.event_name == 'pull_request'
        run: |
          git fetch -q --depth=1 origin "${{ github.base_ref }}"
          old=$(git rev-parse "origin/${{ github.base_ref }}:tinygrad_repo") new=$(git rev-parse HEAD:tinygrad_repo)
          git -C tinygrad_repo fetch -q origin "$old" || true
          echo "tinygrad_repo $old -> $new, in what helpers.py and plain_artifact_compiler.py read:"
          git -C tinygrad_repo diff "$old" "$new" -- tinygrad/uop/ops.py tinygrad/engine/jit.py tinygrad/engine/realize.py tinygrad/device.py \
            tinygrad/helpers.py tinygrad/dtype.py tinygrad/renderer/__init__.py
          echo "and in what convert_upstream_pkl.py decodes:"
          git -C tinygrad_repo diff --stat "$old" "$new" -- tinygrad/runtime/autogen/am/pm4_nv.py tinygrad/runtime/autogen/amd_gpu.py
          git -C tinygrad_repo diff "$old" "$new" -- tinygrad/runtime/support/hcq2.py tinygrad/runtime/support/usb.py tinygrad/runtime/ops_amd.py

  generate-matrix:
    runs-on: ubuntu-latest
    outputs:
      models: ${{ steps.set-matrix.outputs.models }}
    steps:
      - uses: actions/checkout@v4
      - name: Fetch and Parse json
        id: set-matrix
        run: |
          python3 -c '
          import json, urllib.request, os, re

          with open("openpilot/sunnypilot/models/fetcher.py", "r") as f:
            urls = re.findall(r"MODEL_URL(?:_CHESTNUT)?\s*=\s*[\"'"'"']([^\"'"'"']+)[\"'"'"']", f.read())

          artifacts = []
          for url in urls:
            data = json.loads(urllib.request.urlopen(url).read())
            for bundle in data.get("bundles", []):
              for model in bundle.get("models", []):
                if "artifact" in model:
                  artifacts.append(model["artifact"])

          with open(os.environ["GITHUB_OUTPUT"], "a") as f:
            f.write(f"models={json.dumps(artifacts)}\n")
          '

  test-model:
    name: Test ${{ matrix.artifact.file_name }}
    needs: generate-matrix
    runs-on: ubuntu-latest
    container: ghcr.io/commaai/openpilot-base:latest
    strategy:
      fail-fast: false
      matrix:
        artifact: ${{ fromJson(needs.generate-matrix.outputs.models) }}
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: true

      - name: Download model
        env:
          HF_TOKEN: ${{ secrets.HF_TOKEN }}
          MODEL_URL: ${{ matrix.artifact.download_uri.url }}
          MODEL_FILE: ${{ matrix.artifact.file_name }}
        shell: bash
        run: |
          mkdir -p /tmp/models
          AUTH=()
          if [ -n "$HF_TOKEN" ]; then AUTH=(-H "Authorization: Bearer $HF_TOKEN"); fi
          curl --retry 3 --retry-all-errors -s -S -f -L "${AUTH[@]}" -o "/tmp/models/$MODEL_FILE" "$MODEL_URL"

      - name: Run Model Compatibility Test
        env:
          MODEL_BASE_NAME: ${{ matrix.artifact.file_name }}
          MODEL_DIR: "/tmp/models"
        run: |
          export PYTHONPATH="$GITHUB_WORKSPACE/tinygrad_repo:$GITHUB_WORKSPACE:$PYTHONPATH"
          python3 -m pip uninstall -y tinygrad || uv pip uninstall -y tinygrad --system || true
          python3 -m pytest openpilot/sunnypilot/modeld_v2/tests/test_models.py