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selfdrive_tests.yaml
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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