oct 5 demo - actuator values #26
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| name: selfdrive | |
| on: | |
| push: | |
| branches-ignore: | |
| - 'testing-closet*' | |
| pull_request: | |
| env: | |
| BASE_IMAGE: openpilot-base | |
| DOCKER_REGISTRY: ghcr.io/commaai | |
| DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }} | |
| BUILD: | | |
| docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true | |
| docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true | |
| docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . | |
| RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e SCONS_CACHE=1 -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c | |
| UNIT_TEST: coverage run --append -m unittest discover | |
| jobs: | |
| # TODO: once actions/cache supports read only mode, use the cache for all jobs | |
| build_release: | |
| name: build release | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 50 | |
| env: | |
| STRIPPED_DIR: tmppilot | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: true | |
| - name: Cache dependencies | |
| id: dependency-cache | |
| uses: actions/cache@v2 | |
| with: | |
| path: /tmp/scons_cache | |
| key: scons-cache-${{ hashFiles('selfdrive/**') }} | |
| restore-keys: scons-cache- | |
| - name: Strip non-release files | |
| run: | | |
| mkdir $STRIPPED_DIR | |
| cp -pR --parents $(cat release/files_common) $STRIPPED_DIR | |
| cp Dockerfile.openpilot_base $STRIPPED_DIR | |
| # need this to build on x86 | |
| cp -pR --parents phonelibs/libyuv phonelibs/snpe selfdrive/modeld/runners $STRIPPED_DIR | |
| - name: Build Docker image | |
| run: eval "$BUILD" | |
| - name: Build openpilot and run checks | |
| run: | | |
| cd $STRIPPED_DIR | |
| ${{ env.RUN }} "python selfdrive/manager/build.py && \ | |
| python -m unittest discover selfdrive/car" | |
| - name: Cleanup scons cache | |
| run: | | |
| cd $STRIPPED_DIR | |
| ${{ env.RUN }} "scons -j$(nproc) && \ | |
| rm -rf /tmp/scons_cache/* && \ | |
| scons -j$(nproc) --cache-populate" | |
| build_mac: | |
| name: build macos | |
| runs-on: macos-10.15 | |
| timeout-minutes: 60 | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: true | |
| - name: Determine pre-existing Homebrew packages | |
| if: steps.dependency-cache.outputs.cache-hit != 'true' | |
| run: | | |
| echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV | |
| ls -1 /usr/local/Cellar >> $GITHUB_ENV | |
| echo 'EOF' >> $GITHUB_ENV | |
| - name: Cache dependencies | |
| id: dependency-cache | |
| uses: actions/cache@v2 | |
| with: | |
| path: | | |
| ~/.pyenv | |
| ~/Library/Caches/pip | |
| ~/Library/Caches/pipenv | |
| /usr/local/Cellar | |
| ~/github_brew_cache_entries.txt | |
| key: macos-cache-${{ hashFiles('tools/mac_setup.sh') }} | |
| - name: Brew link restored dependencies | |
| if: steps.dependency-cache.outputs.cache-hit == 'true' | |
| run: | | |
| while read pkg; do | |
| brew link --force "$pkg" # `--force` for keg-only packages | |
| done < ~/github_brew_cache_entries.txt | |
| - name: Install dependencies | |
| run: ./tools/mac_setup.sh | |
| - name: Build openpilot | |
| run: eval "$(pyenv init -)" && scons -j$(nproc) | |
| - name: Remove pre-existing Homebrew packages for caching | |
| if: steps.dependency-cache.outputs.cache-hit != 'true' | |
| run: | | |
| cd /usr/local/Cellar | |
| new_cellar=$(ls -1) | |
| comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do | |
| if [[ $pkg != "zstd" ]]; then # caching step needs zstd | |
| rm -rf "$pkg" | |
| fi | |
| done | |
| comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt | |
| build_webcam: | |
| name: build webcam | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 90 | |
| env: | |
| IMAGE_NAME: openpilotwebcamci | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: true | |
| - name: Build Docker image | |
| run: | | |
| eval "$BUILD" | |
| docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true | |
| docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/webcam/Dockerfile . | |
| - name: Build openpilot | |
| run: docker run --shm-size 1G --rm -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot $DOCKER_REGISTRY/$IMAGE_NAME /bin/sh -c "cd /tmp/openpilot && USE_WEBCAM=1 scons -j$(nproc)" | |
| - name: Push to container registry | |
| if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' | |
| run: | | |
| $DOCKER_LOGIN | |
| docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest | |
| docker_push: | |
| name: docker push | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 50 | |
| if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' | |
| needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: true | |
| - name: Build Docker image | |
| run: eval "$BUILD" | |
| - name: Push to container registry | |
| run: | | |
| $DOCKER_LOGIN | |
| docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest | |
| static_analysis: | |
| name: static analysis | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 50 | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: true | |
| - name: Build Docker image | |
| run: eval "$BUILD" | |
| - name: pre-commit | |
| run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all" | |
| valgrind: | |
| name: valgrind | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 50 | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: true | |
| - name: Cache dependencies | |
| id: dependency-cache | |
| uses: actions/cache@v2 | |
| with: | |
| path: /tmp/comma_download_cache | |
| key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/test_valgrind_replay.py') }} | |
| - name: Build Docker image | |
| run: eval "$BUILD" | |
| - name: Run valgrind | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc) && \ | |
| FILEREADER_CACHE=1 python selfdrive/test/test_valgrind_replay.py" | |
| - name: Print logs | |
| if: always() | |
| run: cat selfdrive/test/valgrind_logs.txt | |
| unit_tests: | |
| name: unit tests | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 50 | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: true | |
| - name: Build Docker image | |
| run: eval "$BUILD" | |
| - name: Run unit tests | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc) --test && \ | |
| coverage run selfdrive/test/test_fingerprints.py && \ | |
| $UNIT_TEST common && \ | |
| $UNIT_TEST opendbc/can && \ | |
| $UNIT_TEST selfdrive/boardd && \ | |
| $UNIT_TEST selfdrive/controls && \ | |
| $UNIT_TEST selfdrive/monitoring && \ | |
| $UNIT_TEST selfdrive/loggerd && \ | |
| $UNIT_TEST selfdrive/car && \ | |
| $UNIT_TEST selfdrive/locationd && \ | |
| $UNIT_TEST selfdrive/athena && \ | |
| $UNIT_TEST selfdrive/thermald && \ | |
| $UNIT_TEST tools/lib/tests && \ | |
| ./selfdrive/camerad/test/ae_gray_test" | |
| - name: Upload coverage to Codecov | |
| run: bash <(curl -s https://codecov.io/bash) -v -F unit_tests | |
| process_replay: | |
| name: process replay | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 50 | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: true | |
| - name: Cache dependencies | |
| id: dependency-cache | |
| uses: actions/cache@v2 | |
| with: | |
| path: /tmp/comma_download_cache | |
| key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/process_replay/test_processes.py') }} | |
| - name: Build Docker image | |
| run: eval "$BUILD" | |
| - name: Run replay | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc) && \ | |
| FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py" | |
| - name: Upload coverage to Codecov | |
| run: bash <(curl -s https://codecov.io/bash) -v -F process_replay | |
| - name: Print diff | |
| if: always() | |
| run: cat selfdrive/test/process_replay/diff.txt | |
| - uses: actions/upload-artifact@v2 | |
| if: always() | |
| continue-on-error: true | |
| with: | |
| name: process_replay_diff.txt | |
| path: selfdrive/test/process_replay/diff.txt | |
| test_longitudinal: | |
| name: longitudinal | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 50 | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: true | |
| - name: Build Docker image | |
| run: eval "$BUILD" | |
| - name: Test longitudinal | |
| run: | | |
| ${{ env.RUN }} "mkdir -p selfdrive/test/out && \ | |
| scons -j$(nproc) && \ | |
| cd selfdrive/test/longitudinal_maneuvers && \ | |
| ./test_longitudinal.py" | |
| - uses: actions/upload-artifact@v2 | |
| if: always() | |
| continue-on-error: true | |
| with: | |
| name: longitudinal | |
| path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/ | |
| test_car_models: | |
| name: car models | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 50 | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| submodules: true | |
| - name: Cache dependencies | |
| id: dependency-cache | |
| uses: actions/cache@v2 | |
| with: | |
| path: /tmp/comma_download_cache | |
| key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/test_routes.py') }} | |
| - name: Build Docker image | |
| run: eval "$BUILD" | |
| - name: Test car models | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc) && \ | |
| FILEREADER_CACHE=1 coverage run --parallel-mode -m nose --processes=4 --process-timeout=60 \ | |
| selfdrive/test/test_models.py && \ | |
| coverage combine" | |
| - name: Upload coverage to Codecov | |
| run: bash <(curl -s https://codecov.io/bash) -v -F test_car_models |