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Jenkinsfile
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def retryWithDelay(int maxRetries, int delay, Closure body) {
for (int i = 0; i < maxRetries; i++) {
try {
return body()
} catch (Exception e) {
sleep(delay)
}
}
throw Exception("Failed after ${maxRetries} retries")
}
def device(String ip, String step_label, String cmd) {
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
def ssh_cmd = """
ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
set -e
shopt -s huponexit # kill all child processes when the shell exits
export CI=1
export PYTHONWARNINGS=error
export LOGPRINT=debug
export TEST_DIR=${env.TEST_DIR}
export SOURCE_DIR=${env.SOURCE_DIR}
export GIT_BRANCH=${env.GIT_BRANCH}
export GIT_COMMIT=${env.GIT_COMMIT}
export AZURE_TOKEN='${env.AZURE_TOKEN}'
# only use 1 thread for tici tests since most require HIL
export PYTEST_ADDOPTS="-n 0"
export GIT_SSH_COMMAND="ssh -i /data/gitkey"
source ~/.bash_profile
if [ -f /TICI ]; then
source /etc/profile
rm -rf /tmp/tmp*
rm -rf ~/.commacache
rm -rf /dev/shm/*
rm -rf /dev/tmp/tmp*
if ! systemctl is-active --quiet systemd-resolved; then
echo "restarting resolved"
sudo systemctl start systemd-resolved
sleep 3
fi
# restart aux USB
if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
echo "restarting aux usb"
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
sleep 0.5
echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
fi
fi
if [ -f /data/openpilot/launch_env.sh ]; then
source /data/openpilot/launch_env.sh
fi
ln -snf ${env.TEST_DIR} /data/pythonpath
cd ${env.TEST_DIR} || true
${cmd}
exit 0
END"""
sh script: ssh_cmd, label: step_label
}
}
def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
stage(stageName) {
if (currentBuild.result != null) {
return
}
def extra = extra_env.collect { "export ${it}" }.join('\n');
def branch = env.BRANCH_NAME ?: 'master';
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
timeout(time: 35, unit: 'MINUTES') {
retry (3) {
def date = sh(script: 'date', returnStdout: true).trim();
device(device_ip, "set time", "date -s '" + date + "'")
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
}
steps.each { item ->
device(device_ip, item[0], item[1])
}
}
}
}
}
}
def setupCredentials() {
withCredentials([
string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
]) {
env.AZURE_TOKEN = "${AZURE_TOKEN}"
}
}
node {
env.CI = "1"
env.PYTHONWARNINGS = "error"
env.TEST_DIR = "/data/openpilot"
env.SOURCE_DIR = "/data/openpilot_source/"
setupCredentials()
env.GIT_BRANCH = checkout(scm).GIT_BRANCH
env.GIT_COMMIT = checkout(scm).GIT_COMMIT
def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
'testing-closet*', 'hotfix-*']
def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
if (env.BRANCH_NAME != 'master') {
properties([
disableConcurrentBuilds(abortPrevious: true)
])
}
try {
if (env.BRANCH_NAME == 'devel-staging') {
deviceStage("build release3-staging", "tici-needs-can", [], [
["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"],
])
}
if (env.BRANCH_NAME == 'master-ci') {
deviceStage("build nightly", "tici-needs-can", [], [
["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
])
}
if (!env.BRANCH_NAME.matches(excludeRegex)) {
parallel (
// tici tests
'onroad tests': {
deviceStage("onroad", "tici-needs-can", [], [
// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
["build openpilot", "cd system/manager && ./build.py"],
["check dirty", "release/check-dirty.sh"],
["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
//["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
])
},
'HW + Unit Tests': {
deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
["test manager", "pytest system/manager/test/test_manager.py"],
])
},
'loopback': {
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
["build openpilot", "cd system/manager && ./build.py"],
["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
])
},
'camerad': {
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test camerad", "pytest system/camerad/test/test_camerad.py"],
["test exposure", "pytest system/camerad/test/test_exposure.py"],
])
},
'sensord': {
deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
])
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
])
},
'replay': {
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
["build", "cd system/manager && ./build.py"],
["model replay", "selfdrive/test/process_replay/model_replay.py"],
])
},
'tizi': {
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
["build openpilot", "cd system/manager && ./build.py"],
["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
])
},
)
}
} catch (Exception e) {
currentBuild.result = 'FAILED'
throw e
}
}