fix cycle offroad alerts (#36302) #96078
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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 --durations=0 -n logical | |
| jobs: | |
| build_release: | |
| name: build release | |
| runs-on: ${{ | |
| (github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) | |
| && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') | |
| || fromJSON('["ubuntu-24.04"]') }} | |
| env: | |
| STRIPPED_DIR: /tmp/releasepilot | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - name: Getting LFS files | |
| uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e | |
| with: | |
| timeout_minutes: 2 | |
| max_attempts: 3 | |
| command: git lfs pull | |
| - name: Build devel | |
| timeout-minutes: 1 | |
| run: TARGET_DIR=$STRIPPED_DIR release/build_stripped.sh | |
| - uses: ./.github/workflows/setup-with-retry | |
| - 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" | |
| - name: Check submodules | |
| if: github.repository == 'commaai/openpilot' | |
| timeout-minutes: 3 | |
| run: release/check-submodules.sh | |
| build: | |
| runs-on: ${{ | |
| (github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) | |
| && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') | |
| || fromJSON('["ubuntu-24.04"]') }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - name: Setup docker push | |
| if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' | |
| run: | | |
| echo "PUSH_IMAGE=true" >> "$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: ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-macos-8x14' || 'macos-latest' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV | |
| - name: Homebrew cache | |
| uses: ./.github/workflows/auto-cache | |
| with: | |
| path: ~/Library/Caches/Homebrew | |
| key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} | |
| restore-keys: | | |
| brew-macos-${{ env.CACHE_COMMIT_DATE }} | |
| brew-macos | |
| - name: Install dependencies | |
| run: ./tools/mac_setup.sh | |
| env: | |
| PYTHONWARNINGS: default # package install has DeprecationWarnings | |
| HOMEBREW_DISPLAY_INSTALL_TIMES: 1 | |
| - run: git lfs pull | |
| - name: Getting scons cache | |
| uses: ./.github/workflows/auto-cache | |
| 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) | |
| 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')) | |
| && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') | |
| || fromJSON('["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')) | |
| && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') | |
| || fromJSON('["ubuntu-24.04"]') }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| id: setup-step | |
| - name: Build openpilot | |
| run: ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Run unit tests | |
| timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} | |
| run: | | |
| ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ | |
| # Pre-compile Python bytecode so each pytest worker doesn't need to | |
| $PYTEST --collect-only -m 'not slow' -qq && \ | |
| 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" | |
| process_replay: | |
| name: process replay | |
| runs-on: ${{ | |
| (github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) | |
| && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') | |
| || fromJSON('["ubuntu-24.04"]') }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| id: setup-step | |
| - name: Cache test routes | |
| id: dependency-cache | |
| uses: actions/cache@v4 | |
| with: | |
| path: .ci_cache/comma_download_cache | |
| key: proc-replay-${{ 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') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} | |
| run: | | |
| ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ | |
| chmod -R 777 /tmp/comma_download_cache" | |
| - 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: false # TODO: move this to github instead of azure | |
| 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" | |
| 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')) | |
| && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') | |
| || fromJSON('["ubuntu-24.04"]') }} | |
| if: false # FIXME: Started to timeout recently | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| id: setup-step | |
| - name: Build openpilot | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc)" | |
| - name: Driving test | |
| timeout-minutes: ${{ (steps.setup-step.outputs.duration < 18) && 1 || 2 }} | |
| run: | | |
| ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ | |
| source selfdrive/test/setup_vsound.sh && \ | |
| CI=1 pytest -s 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: ${{ | |
| (github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) | |
| && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') | |
| || fromJSON('["ubuntu-24.04"]') }} | |
| if: false # FIXME: FrameReader is broken on CI runners | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup-with-retry | |
| - name: caching frames | |
| id: frames-cache | |
| uses: actions/cache@v4 | |
| with: | |
| path: .ci_cache/comma_download_cache | |
| key: ui_screenshots_test_${{ 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 | |
| create_raylib_ui_report: | |
| name: Create raylib UI Report | |
| runs-on: ${{ | |
| (github.repository == 'commaai/openpilot') && | |
| ((github.event_name != 'pull_request') || | |
| (github.event.pull_request.head.repo.full_name == 'commaai/openpilot')) | |
| && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]') | |
| || fromJSON('["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: Create raylib UI Report | |
| run: > | |
| ${{ env.RUN }} "PYTHONWARNINGS=ignore && | |
| source selfdrive/test/setup_xvfb.sh && | |
| python3 selfdrive/ui/tests/test_ui/raylib_screenshots.py" | |
| - name: Upload Raylib UI Report | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }} | |
| path: selfdrive/ui/tests/test_ui/raylib_report/screenshots |