Use raw plan for experimental long #86847
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| 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: ${{ ((github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} | |
| env: | |
| STRIPPED_DIR: /tmp/releasepilot | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - name: Getting LFS files | |
| uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e | |
| with: | |
| timeout_minutes: 2 | |
| max_attempts: 3 | |
| command: git lfs pull | |
| - name: Build devel | |
| timeout-minutes: 1 | |
| run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Check submodules | |
| if: github.repository == 'commaai/openpilot' | |
| 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: | |
| 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: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') || | |
| ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') || | |
| 'ubuntu-latest'}} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - name: Setup docker push | |
| if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' | |
| run: | | |
| echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" | |
| echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV" | |
| $DOCKER_LOGIN | |
| - uses: ./.github/workflows/setup-with-retry | |
| - uses: ./.github/workflows/compile-openpilot | |
| timeout-minutes: 30 | |
| build_mac: | |
| name: build macOS | |
| runs-on: ${{ github.repository == 'commaai/openpilot' && 'namespace-profile-macos-8x14' || 'macos-latest' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - name: Homebrew cache | |
| uses: ./.github/workflows/auto-cache | |
| with: | |
| path: ~/Library/Caches/Homebrew | |
| - name: Install dependencies | |
| run: ./tools/mac_setup.sh | |
| env: | |
| # package install has DeprecationWarnings | |
| PYTHONWARNINGS: default | |
| - run: git lfs pull | |
| - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV | |
| - name: Getting scons cache | |
| uses: ./.github/workflows/auto-cache | |
| with: | |
| path: /tmp/scons_cache | |
| - name: Building openpilot | |
| run: . .venv/bin/activate && scons -j$(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 | |
| 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-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: 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: ${{ ((github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Cache test routes | |
| id: dependency-cache | |
| uses: actions/cache@v4 | |
| with: | |
| path: .ci_cache/comma_download_cache | |
| key: proc-replay-${{ 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: ${{ ((github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| job: [0, 1, 2, 3] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: Cache test routes | |
| id: routes-cache | |
| uses: actions/cache@v4 | |
| with: | |
| path: .ci_cache/comma_download_cache | |
| key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/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' }} | |
| 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: ${{ ((github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: caching frames | |
| id: frames-cache | |
| uses: actions/cache@v4 | |
| with: | |
| path: .ci_cache/comma_download_cache | |
| key: ui_screenshots_test_${{ 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') && 1 || 3) }} | |
| run: > | |
| ${{ env.RUN }} "PYTHONWARNINGS=ignore && | |
| source selfdrive/test/setup_xvfb.sh && | |
| CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py && | |
| chmod -R 777 /tmp/comma_download_cache" | |
| - name: Upload Test Report | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} | |
| path: selfdrive/ui/tests/test_ui/report_1/screenshots |