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CI speedup (#26096)

Browse Source 
* CI speedup

* use the new stuff

* push

* no regressions

* try that

* don't let this slip

* fix modeld tests

* fix linter

* modernize prebuilt

* cleanup

* fix those

* increase a bit
old-commit-hash: 00494a44f4
This commit is contained in:
Adeeb Shihadeh
2022-10-16 15:54:36 -07:00
committed by GitHub
parent 5ff03b411e
commit eec2ca1e8b
16 changed files with 95 additions and 81 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
.github/workflows/prebuilt.yaml vendored
View File

@@ -2,7 +2,6 @@ name: prebuilt
on:
schedule:
- cron: '0 * * * *'
workflow_dispatch:
env:
@@ -11,9 +10,7 @@ env:
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_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 .
DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
jobs:
build_prebuilt:
@@ -37,8 +34,7 @@ jobs:
- name: Build Docker image
run: |
eval "$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 Dockerfile.openpilot .
DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot .
- name: Push to container registry
run: |
$DOCKER_LOGIN

109
.github/workflows/selfdrive_tests.yaml vendored
View File

@@ -18,15 +18,12 @@ env:
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_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 .
DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --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 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 /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
BUILD_CL: |
docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true
docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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 /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
UNIT_TEST: coverage run --append -m unittest discover
@@ -41,13 +38,10 @@ jobs:
steps:
- uses: actions/checkout@v3
with:
fetch-depth: 0
submodules: true
- name: Build devel
run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
- uses: ./.github/workflows/setup
with:
save-cache: true
- name: Check submodules
if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
run: release/check-submodules.sh
@@ -72,18 +66,20 @@ jobs:
build_all:
name: build all
runs-on: ubuntu-20.04
timeout-minutes: 50
timeout-minutes: 30
steps:
- uses: actions/checkout@v3
with:
submodules: true
- uses: ./.github/workflows/setup
with:
save-cache: true
- name: Build openpilot with all flags
run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh"
- name: Cleanup scons cache
run: |
${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
scons -j$(nproc) --extras --cache-populate"
scons -j$(nproc) --cache-populate"
#build_mac:
# name: build macos
@@ -145,7 +141,7 @@ jobs:
docker_push:
name: docker push
runs-on: ubuntu-20.04
timeout-minutes: 50
timeout-minutes: 22
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
steps:
@@ -154,12 +150,14 @@ jobs:
submodules: true
- name: Build Docker image
run: eval "$BUILD"
timeout-minutes: 13
- name: Push to container registry
run: |
$DOCKER_LOGIN
docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
- name: Build CL Docker image
run: eval "$BUILD_CL"
timeout-minutes: 4
- name: Push to container registry
run: |
$DOCKER_LOGIN
@@ -168,7 +166,7 @@ jobs:
static_analysis:
name: static analysis
runs-on: ubuntu-20.04
timeout-minutes: 50
timeout-minutes: 20
steps:
- uses: actions/checkout@v3
with:
@@ -176,21 +174,23 @@ jobs:
- name: Build Docker image
run: eval "$BUILD"
- name: pre-commit
timeout-minutes: 5
run: ${{ env.RUN }} "pre-commit run --all"
valgrind:
name: valgrind
runs-on: ubuntu-20.04
timeout-minutes: 50
timeout-minutes: 20
steps:
- uses: actions/checkout@v3
with:
submodules: true
- uses: ./.github/workflows/setup
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Run valgrind
run: |
${{ env.RUN }} "scons -j$(nproc) && \
python selfdrive/test/test_valgrind_replay.py"
${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
- name: Print logs
if: always()
run: cat selfdrive/test/valgrind_logs.txt
@@ -198,16 +198,18 @@ jobs:
unit_tests:
name: unit tests
runs-on: ubuntu-20.04
timeout-minutes: 50
timeout-minutes: 30
steps:
- uses: actions/checkout@v3
with:
submodules: true
- uses: ./.github/workflows/setup
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Run unit tests
timeout-minutes: 15
run: |
${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
scons -j$(nproc) && \
$UNIT_TEST common && \
$UNIT_TEST opendbc/can && \
$UNIT_TEST selfdrive/boardd && \
@@ -220,7 +222,6 @@ jobs:
$UNIT_TEST selfdrive/athena && \
$UNIT_TEST selfdrive/thermald && \
$UNIT_TEST system/hardware/tici && \
$UNIT_TEST selfdrive/modeld && \
$UNIT_TEST tools/lib/tests && \
./selfdrive/ui/tests/create_test_translations.sh && \
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -239,7 +240,7 @@ jobs:
process_replay:
name: process replay
runs-on: ubuntu-20.04
timeout-minutes: 50
timeout-minutes: 25
steps:
- uses: actions/checkout@v3
with:
@@ -251,10 +252,12 @@ jobs:
with:
path: /tmp/comma_download_cache
key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
- name: Run replay
run: |
${{ env.RUN }} "scons -j$(nproc) && \
CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
coverage xml"
- name: Print diff
if: always()
@@ -268,15 +271,14 @@ jobs:
- name: Upload reference logs
if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
run: |
${{ env.RUN }} "scons -j$(nproc) && \
CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v2
model_replay_onnx:
name: model replay onnx
test_modeld:
name: model tests
runs-on: ubuntu-20.04
timeout-minutes: 50
timeout-minutes: 20
steps:
- uses: actions/checkout@v3
with:
@@ -285,29 +287,41 @@ jobs:
- name: Build Docker image
# Sim docker is needed to get the OpenCL drivers
run: eval "$BUILD_CL"
- name: Run replay
- name: Build openpilot
run: |
${{ env.RUN_CL }} "scons -j$(nproc) && \
ONNXCPU=1 CI=1 coverage run \
selfdrive/test/process_replay/model_replay.py -j$(nproc) && \
${{ env.RUN }} "scons -j$(nproc)"
- name: Run model replay with ONNX
timeout-minutes: 2
run: |
${{ env.RUN_CL }} "ONNXCPU=1 CI=1 coverage run selfdrive/test/process_replay/model_replay.py && \
coverage xml"
- name: Run unit tests
timeout-minutes: 5
run: |
${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \
coverage xml"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v2
test_longitudinal:
name: longitudinal
runs-on: ubuntu-20.04
timeout-minutes: 50
timeout-minutes: 20
steps:
- uses: actions/checkout@v3
with:
submodules: true
- uses: ./.github/workflows/setup
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
- name: Test longitudinal
run: |
${{ env.RUN }} "mkdir -p selfdrive/test/out && \
scons -j$(nproc) && \
cd selfdrive/test/longitudinal_maneuvers && \
coverage run ./test_longitudinal.py && \
coverage xml"
timeout-minutes: 2
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v2
- uses: actions/upload-artifact@v2
@@ -320,7 +334,7 @@ jobs:
test_cars:
name: cars
runs-on: ubuntu-20.04
timeout-minutes: 50
timeout-minutes: 20
strategy:
fail-fast: false
matrix:
@@ -336,10 +350,12 @@ jobs:
with:
path: /tmp/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: 12
run: |
${{ env.RUN }} "scons -j$(nproc) && \
coverage run -m pytest selfdrive/car/tests/test_models.py && \
${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \
coverage xml && \
chmod -R 777 /tmp/comma_download_cache"
env:
@@ -348,29 +364,10 @@ jobs:
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v2
docs:
name: build docs
runs-on: ubuntu-20.04
timeout-minutes: 50
steps:
- uses: actions/checkout@v3
with:
submodules: true
- name: Build docker container
run: |
docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
docker pull $DOCKER_REGISTRY/openpilot-docs:latest || true
DOCKER_BUILDKIT=1 docker build --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
- name: Push docker container
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
run: |
$DOCKER_LOGIN
docker push $DOCKER_REGISTRY/openpilot-docs:latest
car_docs_diff:
name: comment on PR with car docs diff
name: PR comments
runs-on: ubuntu-20.04
timeout-minutes: 50
timeout-minutes: 20
if: github.event_name == 'pull_request'
steps:
- uses: actions/checkout@v3

8
.github/workflows/setup/action.yaml vendored
View File

@@ -15,9 +15,9 @@ runs:
# build cache
- id: date
shell: bash
run: echo "::set-output name=date::$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d')"
run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
- shell: bash
run: echo "${{ steps.date.outputs.date }}"
run: echo "$CACHE_COMMIT_DATE"
- shell: bash
run: echo "CACHE_SKIP_SAVE=true" >> $GITHUB_ENV
if: github.ref != 'refs/heads/master' || inputs.save-cache == 'false'
@@ -27,9 +27,9 @@ runs:
uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
with:
path: /tmp/scons_cache
key: scons-${{ steps.date.outputs.date }}-${{ github.sha }}
key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
restore-keys: |
scons-${{ steps.date.outputs.date }}-
scons-${{ env.CACHE_COMMIT_DATE }}-
scons-
# build our docker image

45
.github/workflows/tools_tests.yaml vendored
View File

@@ -2,6 +2,8 @@ name: tools
on:
push:
branches-ignore:
- 'testing-closet*'
pull_request:
concurrency:
@@ -15,21 +17,20 @@ env:
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_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 .
DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --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 $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 /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
BUILD_CL: |
docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base_cl) || true
docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e \
GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
jobs:
plotjuggler:
name: plotjuggler
runs-on: ubuntu-20.04
timeout-minutes: 30
timeout-minutes: 20
steps:
- uses: actions/checkout@v3
with:
@@ -37,6 +38,7 @@ jobs:
- name: Build Docker image
run: eval "$BUILD"
- name: Unit test
timeout-minutes: 2
run: |
${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \
apt-get update && \
@@ -47,7 +49,7 @@ jobs:
simulator:
name: simulator
runs-on: ubuntu-20.04
timeout-minutes: 50
timeout-minutes: 30
env:
IMAGE_NAME: openpilot-sim
if: github.repository == 'commaai/openpilot'
@@ -61,12 +63,29 @@ jobs:
run: eval "$BUILD"
- name: Build base cl image
run: eval "$BUILD_CL"
- name: Pull latest simulator image
run: docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
- name: Build simulator image
run: docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
run: DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
- 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
docs:
name: build docs
runs-on: ubuntu-20.04
timeout-minutes: 25
steps:
- uses: actions/checkout@v3
with:
submodules: true
- name: Build docker container
run: |
DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
- name: Push docker container
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
run: |
$DOCKER_LOGIN
docker push $DOCKER_REGISTRY/openpilot-docs:latest