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sunnypilot/.github/workflows/selfdrive_tests.yaml
DevTekVE d5f5887830 CI: Increase test report creation timeout and improve build times (#545) 
* Increase timeout for test report creation by 1 minute

Adjusted the `timeout-minutes` value to allow more time for the
test report creation step.

* Add script to disable power save in build workflow

This commit integrates the `disable-powersave.py` script into the sunnypilot build workflow. It ensures power save mode is disabled during the build process, improving reliability and consistency.

* Set PYTHONPATH before running disable-powersave.py

The change ensures the correct Python module path is set when executing the disable-powersave script. This update prevents potential import issues by including the GitHub workspace in the PYTHONPATH.

* Refactor powersave handling with a dedicated script

Replaced inline powersave disable logic with a new script `manage-powersave.py` to handle enabling and disabling power saving mode. Updated the CI workflow to use this script and added a step to re-enable powersave after builds. This improves clarity and modularity for power management operations.

* Enable CPU core count display in power save script

Introduce multiprocessing to show the number of CPU cores available. Added messages to indicate power save mode state and core count, improving script feedback and user clarity.

* Refine power save mode logging output.

Improve clarity of logging messages in `manage-powersave.py` by indicating CPU core counts before and after applying changes. Simplified the power save state message for better readability.

* Updated scons cache key restore logic in GitHub workflows

This commit updates the restore key logic in two GitHub workflow config files (sunnypilot-build-model.yaml and sunnypilot-build-prebuilt.yaml). The restore key sequence has been revised for improved accuracy and consistency. This should optimize the cache hit rate and speed up the subsequent builds.

* Add comments on GitHub Actions cache isolation behavior

Clarifies the cache isolation enforced by GitHub Actions for security reasons. Notes that only caches from the default branch are shared across all builds, and this behavior cannot be changed. This improves maintainability and understanding of the workflow configuration.
2025-01-10 10:04:38 +01:00

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name: selfdrive
on:
push:
branches:
- master
- master-new
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.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
cancel-in-progress: true
env:
REPORT_NAME: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && 'master' || github.event.number }}
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:
if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
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-24.04' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
env:
STRIPPED_DIR: /tmp/releasepilot
steps:
- uses: actions/checkout@v4
with:
submodules: true
- name: Getting LFS files
uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
with:
timeout_minutes: 2
max_attempts: 3
command: git lfs pull
- name: Build devel
timeout-minutes: 1
run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
- uses: ./.github/workflows/setup-with-retry
- name: Check submodules
if: github.repository == 'sunnypilot/sunnypilot'
timeout-minutes: 3
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: 1
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:
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' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- name: Setup docker push
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
run: |
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
$DOCKER_LOGIN
- uses: ./.github/workflows/setup-with-retry
- uses: ./.github/workflows/compile-openpilot
timeout-minutes: 30
build_mac:
name: build macOS
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- name: Homebrew cache
uses: ./.github/workflows/auto-cache
with:
path: ~/Library/Caches/Homebrew
key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
- name: Install dependencies
run: ./tools/mac_setup.sh
env:
# package install has DeprecationWarnings
PYTHONWARNINGS: default
- run: git lfs pull
- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
- name: Getting scons cache
uses: ./.github/workflows/auto-cache
with:
path: /tmp/scons_cache
key: build_macos_${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}
- name: Building openpilot
run: . .venv/bin/activate && scons -j$(nproc)
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' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
env:
PYTHONWARNINGS: default
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Static analysis
timeout-minutes: 1
run: ${{ env.RUN }} "scripts/lint/lint.sh"
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-24.04' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Run unit tests
timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
run: |
${{ env.RUN }} "$PYTEST --collect-only -m 'not slow' &> /dev/null && \
MAX_EXAMPLES=1 $PYTEST -m 'not slow' && \
./selfdrive/ui/tests/create_test_translations.sh && \
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
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 }}
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-24.04' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Cache test routes
id: dependency-cache
uses: actions/cache@v4
with:
path: .ci_cache/comma_download_cache
key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }}
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
- name: Run replay
timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }}
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"
- name: Run regen
if: false
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-24.04' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
strategy:
fail-fast: false
matrix:
job: [0, 1, 2, 3]
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Cache test routes
id: routes-cache
uses: actions/cache@v4
with:
path: .ci_cache/comma_download_cache
key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'opendbc/car/tests/routes.py') }}-${{ matrix.job }}
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Test car models
timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.routes-cache.outputs.cache-hit == 'true') && 1 || 20 }}
run: |
${{ env.RUN }} "MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
chmod -R 777 /tmp/comma_download_cache"
env:
NUM_JOBS: 4
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 }}
})
simulator_driving:
name: simulator driving
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' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
if: (github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
- name: Driving test
timeout-minutes: 1
run: |
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
source selfdrive/test/setup_vsound.sh && \
CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
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:
- ${{ ((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' }}
- ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: caching frames
id: frames-cache
uses: actions/cache@v4
with:
path: .ci_cache/comma_download_cache
key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Create Test Report
timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 2 || 4) }}
run: >
${{ env.RUN }} "PYTHONWARNINGS=ignore &&
source selfdrive/test/setup_xvfb.sh &&
CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
chmod -R 777 /tmp/comma_download_cache"
- name: Upload Test Report
uses: actions/upload-artifact@v4
with:
name: ${{ env.REPORT_NAME }}
path: selfdrive/ui/tests/test_ui/report_1/screenshots
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