Toyota: prevent lagged gas after heavy braking #84986
Workflow file for this run
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| name: selfdrive | |
| on: | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| workflow_dispatch: | |
| workflow_call: | |
| inputs: | |
| run_number: | |
| default: '1' | |
| required: true | |
| type: string | |
| concurrency: | |
| group: selfdrive-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: | |
| PYTHONWARNINGS: error | |
| BASE_IMAGE: openpilot-base | |
| AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} | |
| 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 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -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/bash -c | |
| PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical | |
| jobs: | |
| build_release: | |
| name: build release | |
| runs-on: ${{ ((github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} | |
| env: | |
| STRIPPED_DIR: /tmp/releasepilot | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - run: git lfs pull | |
| - name: Build devel | |
| timeout-minutes: 1 | |
| run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Check submodules | |
| if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' | |
| timeout-minutes: 1 | |
| run: release/check-submodules.sh | |
| - name: Build openpilot and run checks | |
| timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache | |
| run: | | |
| cd $STRIPPED_DIR | |
| ${{ env.RUN }} "python3 system/manager/build.py" | |
| - name: Run tests | |
| timeout-minutes: 3 | |
| run: | | |
| cd $STRIPPED_DIR | |
| ${{ env.RUN }} "release/check-dirty.sh && \ | |
| MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car system/manager" | |
| - name: Static analysis | |
| timeout-minutes: 1 | |
| run: | | |
| cd $GITHUB_WORKSPACE | |
| cp pyproject.toml $STRIPPED_DIR | |
| cd $STRIPPED_DIR | |
| ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files" | |
| build: | |
| strategy: | |
| matrix: | |
| 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: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - name: Setup docker push | |
| if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' | |
| run: | | |
| echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" | |
| echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV" | |
| $DOCKER_LOGIN | |
| - uses: ./.github/workflows/setup-with-retry | |
| with: | |
| docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} | |
| - uses: ./.github/workflows/compile-openpilot | |
| timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache | |
| build_mac: | |
| name: build macOS | |
| runs-on: macos-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - run: git lfs pull | |
| - name: Install dependencies | |
| run: ./tools/mac_setup.sh | |
| env: | |
| # package install has DeprecationWarnings | |
| PYTHONWARNINGS: default | |
| - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV | |
| - name: Getting scons cache | |
| uses: 'actions/cache@v4' | |
| with: | |
| path: /tmp/scons_cache | |
| key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} | |
| restore-keys: | | |
| scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }} | |
| scons-${{ runner.arch }}-macos | |
| - name: Building openpilot | |
| run: . .venv/bin/activate && scons -j$(nproc) | |
| docker_push_multiarch: | |
| name: docker push multiarch tag | |
| runs-on: ubuntu-latest | |
| if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' | |
| needs: [build] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: false | |
| - name: Setup docker | |
| run: | | |
| $DOCKER_LOGIN | |
| - name: Merge x64 and arm64 tags | |
| run: | | |
| export PUSH_IMAGE=true | |
| scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64 | |
| 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'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }} | |
| env: | |
| PYTHONWARNINGS: default | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Setup | |
| run: tools/op.sh setup | |
| - name: Static analysis | |
| timeout-minutes: 1 | |
| run: tools/op.sh lint | |
| 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'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| with: | |
| docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} | |
| - name: Build openpilot | |
| 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: 15 | |
| run: | | |
| ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ | |
| $PYTEST --timeout 60 -m 'not slow' && \ | |
| ./selfdrive/ui/tests/create_test_translations.sh && \ | |
| QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ | |
| pytest ./selfdrive/ui/tests/test_translations.py" | |
| - name: "Upload coverage to Codecov" | |
| uses: codecov/codecov-action@v4 | |
| with: | |
| name: ${{ github.job }} | |
| env: | |
| CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} | |
| 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'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| with: | |
| docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} | |
| - name: Cache test routes | |
| id: dependency-cache | |
| uses: actions/cache@v4 | |
| with: | |
| path: .ci_cache/comma_download_cache | |
| key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }} | |
| - name: Build openpilot | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Run replay | |
| timeout-minutes: 30 | |
| run: | | |
| ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ | |
| chmod -R 777 /tmp/comma_download_cache && \ | |
| coverage combine && \ | |
| coverage xml" | |
| - name: Print diff | |
| id: print-diff | |
| if: always() | |
| run: cat selfdrive/test/process_replay/diff.txt | |
| - uses: actions/upload-artifact@v4 | |
| if: always() | |
| continue-on-error: true | |
| with: | |
| name: process_replay_diff.txt | |
| path: selfdrive/test/process_replay/diff.txt | |
| - name: Upload reference logs | |
| if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} | |
| run: | | |
| ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" | |
| # PYTHONWARNINGS triggers a SyntaxError in onnxruntime | |
| - name: Run model replay with ONNX | |
| timeout-minutes: 4 | |
| run: | | |
| ${{ env.RUN }} "unset PYTHONWARNINGS && \ | |
| ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ | |
| coverage combine && coverage xml" | |
| - name: Run regen | |
| timeout-minutes: 4 | |
| run: | | |
| ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ | |
| chmod -R 777 /tmp/comma_download_cache" | |
| - name: "Upload coverage to Codecov" | |
| uses: codecov/codecov-action@v4 | |
| with: | |
| name: ${{ github.job }} | |
| env: | |
| CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} | |
| test_cars: | |
| name: cars | |
| runs-on: ${{ ((github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| job: [0, 1] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Cache test routes | |
| id: dependency-cache | |
| uses: ./.github/workflows/auto-cache | |
| with: | |
| path: .ci_cache/comma_download_cache | |
| key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }} | |
| - name: Build openpilot | |
| run: ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Test car models | |
| timeout-minutes: 20 | |
| run: | | |
| ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \ | |
| chmod -R 777 /tmp/comma_download_cache" | |
| env: | |
| NUM_JOBS: 2 | |
| JOB_ID: ${{ matrix.job }} | |
| - name: "Upload coverage to Codecov" | |
| uses: codecov/codecov-action@v4 | |
| with: | |
| name: ${{ github.job }}-${{ matrix.job }} | |
| env: | |
| CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} | |
| car_docs_diff: | |
| name: PR comments | |
| runs-on: ubuntu-latest | |
| #if: github.event_name == 'pull_request' | |
| if: false # TODO: run this in opendbc? | |
| steps: | |
| - 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) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs" | |
| sudo chown -R $USER:$USER ${{ github.workspace }} | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| path: current | |
| - run: cd current && git lfs pull | |
| - name: Save car docs diff | |
| id: save_diff | |
| run: | | |
| cd current | |
| ${{ env.RUN }} "scons -j$(nproc)" | |
| output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs") | |
| output="${output//$'\n'/'%0A'}" | |
| echo "::set-output name=diff::$output" | |
| - name: Find comment | |
| if: ${{ env.AZURE_TOKEN != '' }} | |
| uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e | |
| id: fc | |
| with: | |
| issue-number: ${{ github.event.pull_request.number }} | |
| body-includes: This PR makes changes to | |
| - name: Update comment | |
| if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }} | |
| uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043 | |
| with: | |
| comment-id: ${{ steps.fc.outputs.comment-id }} | |
| issue-number: ${{ github.event.pull_request.number }} | |
| body: "${{ steps.save_diff.outputs.diff }}" | |
| edit-mode: replace | |
| - name: Delete comment | |
| if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }} | |
| uses: actions/github-script@v7 | |
| with: | |
| script: | | |
| github.rest.issues.deleteComment({ | |
| owner: context.repo.owner, | |
| repo: context.repo.repo, | |
| comment_id: ${{ steps.fc.outputs.comment-id }} | |
| }) | |
| create_ui_report: | |
| # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml | |
| name: Create UI Report | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Build openpilot | |
| run: ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Create Test Report | |
| run: > | |
| ${{ env.RUN }} "PYTHONWARNINGS=ignore && | |
| source selfdrive/test/setup_xvfb.sh && | |
| python3 selfdrive/ui/tests/test_ui/run.py" | |
| - name: Upload Test Report | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: report-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} | |
| path: selfdrive/ui/tests/test_ui/report_1/screenshots |