mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 03:03:57 +08:00
CI speedup (#26096)
* 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
109
.github/workflows/selfdrive_tests.yaml
vendored
109
.github/workflows/selfdrive_tests.yaml
vendored
@@ -18,15 +18,12 @@ env:
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DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
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BUILD: |
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docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
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docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
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docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
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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 .
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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
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BUILD_CL: |
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docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true
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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 .
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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 .
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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 $CL_BASE_IMAGE /bin/sh -c
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UNIT_TEST: coverage run --append -m unittest discover
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@@ -41,13 +38,10 @@ jobs:
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steps:
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- uses: actions/checkout@v3
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with:
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fetch-depth: 0
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submodules: true
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- name: Build devel
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run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
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- uses: ./.github/workflows/setup
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with:
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save-cache: true
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- name: Check submodules
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if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
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run: release/check-submodules.sh
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@@ -72,18 +66,20 @@ jobs:
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build_all:
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name: build all
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runs-on: ubuntu-20.04
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timeout-minutes: 50
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timeout-minutes: 30
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steps:
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- uses: actions/checkout@v3
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with:
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submodules: true
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- uses: ./.github/workflows/setup
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with:
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save-cache: true
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- name: Build openpilot with all flags
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run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh"
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- name: Cleanup scons cache
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run: |
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${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
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scons -j$(nproc) --extras --cache-populate"
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scons -j$(nproc) --cache-populate"
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#build_mac:
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# name: build macos
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@@ -145,7 +141,7 @@ jobs:
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docker_push:
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name: docker push
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runs-on: ubuntu-20.04
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timeout-minutes: 50
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timeout-minutes: 22
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if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
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needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
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steps:
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@@ -154,12 +150,14 @@ jobs:
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submodules: true
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- name: Build Docker image
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run: eval "$BUILD"
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timeout-minutes: 13
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- name: Push to container registry
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run: |
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$DOCKER_LOGIN
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docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
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- name: Build CL Docker image
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run: eval "$BUILD_CL"
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timeout-minutes: 4
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- name: Push to container registry
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run: |
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$DOCKER_LOGIN
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@@ -168,7 +166,7 @@ jobs:
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static_analysis:
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name: static analysis
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runs-on: ubuntu-20.04
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timeout-minutes: 50
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timeout-minutes: 20
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steps:
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- uses: actions/checkout@v3
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with:
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@@ -176,21 +174,23 @@ jobs:
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- name: Build Docker image
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run: eval "$BUILD"
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- name: pre-commit
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timeout-minutes: 5
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run: ${{ env.RUN }} "pre-commit run --all"
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valgrind:
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name: valgrind
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runs-on: ubuntu-20.04
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timeout-minutes: 50
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timeout-minutes: 20
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steps:
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- uses: actions/checkout@v3
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with:
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submodules: true
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- uses: ./.github/workflows/setup
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- name: Build openpilot
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run: ${{ env.RUN }} "scons -j$(nproc)"
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- name: Run valgrind
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run: |
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${{ env.RUN }} "scons -j$(nproc) && \
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python selfdrive/test/test_valgrind_replay.py"
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${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
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- name: Print logs
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if: always()
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run: cat selfdrive/test/valgrind_logs.txt
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@@ -198,16 +198,18 @@ jobs:
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unit_tests:
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name: unit tests
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runs-on: ubuntu-20.04
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timeout-minutes: 50
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timeout-minutes: 30
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steps:
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- uses: actions/checkout@v3
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with:
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submodules: true
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- uses: ./.github/workflows/setup
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- name: Build openpilot
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run: ${{ env.RUN }} "scons -j$(nproc)"
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- name: Run unit tests
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timeout-minutes: 15
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run: |
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${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
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scons -j$(nproc) && \
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$UNIT_TEST common && \
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$UNIT_TEST opendbc/can && \
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$UNIT_TEST selfdrive/boardd && \
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@@ -220,7 +222,6 @@ jobs:
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$UNIT_TEST selfdrive/athena && \
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$UNIT_TEST selfdrive/thermald && \
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$UNIT_TEST system/hardware/tici && \
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$UNIT_TEST selfdrive/modeld && \
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$UNIT_TEST tools/lib/tests && \
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./selfdrive/ui/tests/create_test_translations.sh && \
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QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
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@@ -239,7 +240,7 @@ jobs:
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process_replay:
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name: process replay
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runs-on: ubuntu-20.04
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timeout-minutes: 50
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timeout-minutes: 25
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steps:
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- uses: actions/checkout@v3
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with:
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@@ -251,10 +252,12 @@ jobs:
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with:
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path: /tmp/comma_download_cache
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key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
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- name: Build openpilot
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run: |
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${{ env.RUN }} "scons -j$(nproc)"
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- name: Run replay
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run: |
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${{ env.RUN }} "scons -j$(nproc) && \
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CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
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${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
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coverage xml"
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- name: Print diff
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if: always()
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@@ -268,15 +271,14 @@ jobs:
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- name: Upload reference logs
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if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
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run: |
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${{ env.RUN }} "scons -j$(nproc) && \
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CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
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${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
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- name: "Upload coverage to Codecov"
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uses: codecov/codecov-action@v2
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model_replay_onnx:
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name: model replay onnx
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test_modeld:
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name: model tests
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runs-on: ubuntu-20.04
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timeout-minutes: 50
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timeout-minutes: 20
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steps:
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- uses: actions/checkout@v3
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with:
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@@ -285,29 +287,41 @@ jobs:
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- name: Build Docker image
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# Sim docker is needed to get the OpenCL drivers
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run: eval "$BUILD_CL"
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- name: Run replay
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- name: Build openpilot
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run: |
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${{ env.RUN_CL }} "scons -j$(nproc) && \
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ONNXCPU=1 CI=1 coverage run \
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selfdrive/test/process_replay/model_replay.py -j$(nproc) && \
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${{ env.RUN }} "scons -j$(nproc)"
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- name: Run model replay with ONNX
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timeout-minutes: 2
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run: |
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${{ env.RUN_CL }} "ONNXCPU=1 CI=1 coverage run selfdrive/test/process_replay/model_replay.py && \
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coverage xml"
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- name: Run unit tests
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timeout-minutes: 5
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run: |
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${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \
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coverage xml"
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- name: "Upload coverage to Codecov"
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uses: codecov/codecov-action@v2
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test_longitudinal:
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name: longitudinal
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runs-on: ubuntu-20.04
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timeout-minutes: 50
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timeout-minutes: 20
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steps:
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- uses: actions/checkout@v3
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with:
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submodules: true
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- uses: ./.github/workflows/setup
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- name: Build openpilot
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run: |
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${{ env.RUN }} "scons -j$(nproc)"
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- name: Test longitudinal
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run: |
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${{ env.RUN }} "mkdir -p selfdrive/test/out && \
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scons -j$(nproc) && \
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cd selfdrive/test/longitudinal_maneuvers && \
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coverage run ./test_longitudinal.py && \
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coverage xml"
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timeout-minutes: 2
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- name: "Upload coverage to Codecov"
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uses: codecov/codecov-action@v2
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- uses: actions/upload-artifact@v2
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@@ -320,7 +334,7 @@ jobs:
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test_cars:
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name: cars
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runs-on: ubuntu-20.04
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timeout-minutes: 50
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timeout-minutes: 20
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strategy:
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fail-fast: false
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matrix:
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@@ -336,10 +350,12 @@ jobs:
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with:
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path: /tmp/comma_download_cache
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key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
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- name: Build openpilot
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run: ${{ env.RUN }} "scons -j$(nproc)"
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- name: Test car models
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timeout-minutes: 12
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run: |
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${{ env.RUN }} "scons -j$(nproc) && \
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coverage run -m pytest selfdrive/car/tests/test_models.py && \
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${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \
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coverage xml && \
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chmod -R 777 /tmp/comma_download_cache"
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env:
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@@ -348,29 +364,10 @@ jobs:
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- name: "Upload coverage to Codecov"
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uses: codecov/codecov-action@v2
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docs:
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name: build docs
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runs-on: ubuntu-20.04
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timeout-minutes: 50
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steps:
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- uses: actions/checkout@v3
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with:
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submodules: true
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- name: Build docker container
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run: |
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docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
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docker pull $DOCKER_REGISTRY/openpilot-docs:latest || true
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DOCKER_BUILDKIT=1 docker build --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
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- name: Push docker container
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if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
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run: |
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$DOCKER_LOGIN
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docker push $DOCKER_REGISTRY/openpilot-docs:latest
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car_docs_diff:
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name: comment on PR with car docs diff
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name: PR comments
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runs-on: ubuntu-20.04
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timeout-minutes: 50
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timeout-minutes: 20
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if: github.event_name == 'pull_request'
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steps:
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- uses: actions/checkout@v3
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