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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: "ignore::DeprecationWarning" | |
| AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} | |
| PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical | |
| jobs: | |
| 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 | |
| - uses: ./.github/workflows/setup | |
| - uses: ./.github/workflows/compile-openpilot | |
| timeout-minutes: 30 | |
| 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 | |
| - name: Static analysis | |
| timeout-minutes: 1 | |
| run: | | |
| source .venv/bin/activate | |
| scripts/lint/lint.sh | |
| 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' }} | |
| - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup | |
| - name: Cache test routes | |
| id: dependency-cache | |
| uses: actions/cache@v4 | |
| with: | |
| path: .ci_cache/comma_download_cache | |
| key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }} | |
| - name: Build openpilot | |
| run: | | |
| source .venv/bin/activate | |
| scons -j$(nproc) | |
| - name: Run replay | |
| timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && 1 || 20 }} | |
| run: | | |
| source .venv/bin/activate | |
| coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ | |
| chmod -R 777 .ci_cache/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: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} | |
| run: | | |
| source .venv/bin/activate | |
| unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only | |
| - name: Run regen | |
| if: false | |
| timeout-minutes: 4 | |
| run: | | |
| source .venv/bin/activate | |
| ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ | |
| chmod -R 777 .ci_cache/comma_download_cache | |
| - name: "Upload coverage to Codecov" | |
| uses: codecov/codecov-action@v4 | |
| with: | |
| name: ${{ github.job }} | |
| env: | |
| CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} |