test.yaml

name: openpilot tests
on:
  push:
    branches-ignore:
      - 'testing-closet*'
  pull_request:

env:
  RUN: docker run --shm-size 1G --rm tmppilot /bin/sh -c
  PERSIST_WITH_CACHE: docker run --shm-size 1G -v /tmp/comma_download_cache:/tmp/comma_download_cache  --name tmppilot tmppilot /bin/sh -c
  PERSIST: docker run --shm-size 1G --name tmppilot tmppilot /bin/sh -c
  CI_RUN: docker run -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID --rm tmppilotci /bin/bash -c
  UNIT_TEST: coverage run --append -m unittest discover
  BUILD: |
      docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
      docker pull docker.io/commaai/openpilot-base:latest || true
      docker build --cache-from docker.io/commaai/openpilot-base:latest -t commaai/openpilot-base:latest -f Dockerfile.openpilot_base .

      docker pull docker.io/commaai/openpilotci:latest || true
      docker build --cache-from docker.io/commaai/openpilotci:latest -t tmppilot -f Dockerfile.openpilotci .

jobs:
  build_release:
    name: build release
    runs-on: ubuntu-20.04
    timeout-minutes: 50
    env:
      TEST_DIR: tmppilot
    steps:
    - uses: actions/checkout@v2
      with:
        submodules: true
    - name: Strip non-release files
      run: |
        mkdir $TEST_DIR
        cp -pR --parents $(cat release/files_common) $TEST_DIR
        cp Dockerfile.openpilot_base Dockerfile.openpilotci $TEST_DIR

        # need this to build on x86
        cp -pR --parents phonelibs/libyuv phonelibs/snpe \
                          external/bin selfdrive/modeld/runners $TEST_DIR

        # need these so docker copy won't fail
        cp Pipfile Pipfile.lock .pylintrc .pre-commit-config.yaml $TEST_DIR
        cd $TEST_DIR
        mkdir laika laika_repo tools
    - name: Build Docker image
      run: cd $TEST_DIR && eval "$BUILD"
    - name: Build openpilot and run quick check
      run: |
          $RUN "cd /tmp/openpilot && \
                scons -j$(nproc) && \
                $UNIT_TEST selfdrive/car"

  build_mac:
    name: build macos
    runs-on: macos-10.15
    timeout-minutes: 60
    steps:
    - uses: actions/checkout@v2
      with:
        submodules: true
    - name: Cache dependencies
      id: dependency-cache
      uses: actions/cache@v2
      with:
        path: |
          ~/.pyenv
          ~/Library/Caches/pip
          ~/Library/Caches/pipenv
          ~/Library/Caches/Homebrew
        key: ${{ hashFiles('tools/mac_setup.sh') }}
    - name: Install dependencies
      run: ./tools/mac_setup.sh
    - name: Build openpilot
      run: eval "$(pyenv init -)" && scons -j$(nproc)
    - name: Brew cleanup
      run: brew cleanup || true # keeps our cache small

  build_webcam:
    name: build webcam
    runs-on: ubuntu-20.04
    timeout-minutes: 90
    steps:
    - uses: actions/checkout@v2
      with:
        submodules: true
    - name: Build Docker image
      run: |
        docker pull docker.io/commaai/openpilotwebcamci:latest
        docker build --cache-from docker.io/commaai/openpilotwebcamci:latest -t tmppilotwebcam -f tools/webcam/Dockerfile .
    - name: Build openpilot
      run: docker run --shm-size 1G --rm tmppilotwebcam /bin/sh -c "cd /tmp/openpilot && USE_WEBCAM=1 scons -j$(nproc)"
    - name: Push to dockerhub
      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
      run: |
          docker login -u wmelching -p ${{ secrets.COMMA_DOCKERHUB_TOKEN}}
          docker tag tmppilotwebcam docker.io/commaai/openpilotwebcamci:latest
          docker push docker.io/commaai/openpilotwebcamci:latest
  
  docker_push:
    name: docker push
    runs-on: ubuntu-20.04
    timeout-minutes: 50
    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
    needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
    steps:
      - uses: actions/checkout@v2
        with:
          submodules: true
      - name: Build Docker image
        run: eval "$BUILD"
      - name: Push to dockerhub
        run: |
          docker login -u wmelching -p ${{ secrets.COMMA_DOCKERHUB_TOKEN}}
          docker tag commaai/openpilot-base:latest docker.io/commaai/openpilot-base:latest
          docker push docker.io/commaai/openpilot-base:latest
          docker tag tmppilot docker.io/commaai/openpilotci:latest
          docker push docker.io/commaai/openpilotci:latest

  docker_push_prebuilt:
    name: docker push prebuilt
    runs-on: ubuntu-20.04
    timeout-minutes: 50
    if: github.event_name == 'status' && github.repository == 'commaai/openpilot'
    needs: [static_analysis, unit_tests, process_replay, test_longitudinal, test_car_models]
    steps:
      - uses: actions/checkout@v2
        with:
          submodules: true
      - name: Build Docker image
        run: echo "RUN cd /tmp/openpilot && scons -c && scons -j\$(nproc)" >> Dockerfile.openpilotci && eval "$BUILD"
      - name: Push to dockerhub
        run: |
          docker login -u wmelching -p ${{ secrets.COMMA_DOCKERHUB_TOKEN}}
          docker tag tmppilot docker.io/commaai/openpilot:latest
          docker push docker.io/commaai/openpilot:latest

  static_analysis:
    name: static analysis
    runs-on: ubuntu-20.04
    timeout-minutes: 50
    steps:
      - uses: actions/checkout@v2
        with:
          submodules: true
      - name: Build Docker image
        run: eval "$BUILD"
      - name: pre-commit
        run: $RUN "cd /tmp/openpilot/ && git init && git add -A && pre-commit run --all"

  valgrind:
    name: valgrind
    runs-on: ubuntu-20.04
    timeout-minutes: 50
    steps:
      - uses: actions/checkout@v2
        with:
          submodules: true
      - name: Cache dependencies
        id: dependency-cache
        uses: actions/cache@v2
        with:
          path: |
            /tmp/comma_download_cache
          key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/test_valgrind_replay.py') }}
      - name: Build Docker image
        run: eval "$BUILD"
      - name: Run valgrind
        run: |
          $PERSIST_WITH_CACHE "cd /tmp/openpilot && \
                    scons -j$(nproc) && \
                    FILEREADER_CACHE=1 python selfdrive/test/test_valgrind_replay.py"
      - name: Print logs
        if: always()
        run: |
          docker cp tmppilot:/tmp/openpilot/selfdrive/test/valgrind_logs.txt valgrind_logs.txt
          cat valgrind_logs.txt
      - uses: actions/upload-artifact@v2
        if: always()
        continue-on-error: true
        with:
          name: valgrind_logs.txt
          path: valgrind_logs.txt

  unit_tests:
    name: unit tests
    runs-on: ubuntu-20.04
    timeout-minutes: 50
    steps:
      - uses: actions/checkout@v2
        with:
          submodules: true
      - name: Build Docker image
        run: eval "$BUILD"
      - name: Run unit tests
        run: |
          $PERSIST "cd /tmp/openpilot && \
                    scons -j$(nproc) && \
                    coverage run selfdrive/test/test_fingerprints.py && \
                    $UNIT_TEST common && \
                    $UNIT_TEST opendbc/can && \
                    $UNIT_TEST selfdrive/boardd && \
                    $UNIT_TEST selfdrive/controls && \
                    $UNIT_TEST selfdrive/monitoring && \
                    $UNIT_TEST selfdrive/loggerd && \
                    $UNIT_TEST selfdrive/car && \
                    $UNIT_TEST selfdrive/locationd && \
                    $UNIT_TEST selfdrive/athena && \
                    $UNIT_TEST selfdrive/thermald && \
                    $UNIT_TEST tools/lib/tests"
      - name: Upload coverage to Codecov
        run: |
          docker commit tmppilot tmppilotci
          $CI_RUN "cd /tmp/openpilot && bash <(curl -s https://codecov.io/bash) -v -F unit_tests"

  process_replay:
    name: process replay
    runs-on: ubuntu-20.04
    timeout-minutes: 50
    steps:
      - uses: actions/checkout@v2
        with:
          submodules: true
      - name: Cache dependencies
        id: dependency-cache
        uses: actions/cache@v2
        with:
          path: |
            /tmp/comma_download_cache
          key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/process_replay/test_processes.py') }}
      - name: Build Docker image
        run: eval "$BUILD"
      - name: Run replay
        run: |
          $PERSIST_WITH_CACHE  "cd /tmp/openpilot && \
          scons -j$(nproc) && \
          FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py"
      - name: Upload coverage to Codecov
        run: |
          docker commit tmppilot tmppilotci
          $CI_RUN "cd /tmp/openpilot && bash <(curl -s https://codecov.io/bash) -v -F process_replay"
      - name: Print diff
        if: always()
        run: |
          docker cp tmppilot:/tmp/openpilot/selfdrive/test/process_replay/diff.txt diff.txt
          cat diff.txt
      - uses: actions/upload-artifact@v2
        if: always()
        continue-on-error: true
        with:
          name: process_replay_diff.txt
          path: diff.txt

  test_longitudinal:
    name: longitudinal
    runs-on: ubuntu-20.04
    timeout-minutes: 50
    steps:
      - uses: actions/checkout@v2
        with:
          submodules: true
      - name: Build Docker image
        run: eval "$BUILD"
      - name: Test longitudinal
        run: |
          $PERSIST "mkdir -p /tmp/openpilot/selfdrive/test/out && \
                    cd /tmp/openpilot/ && \
                    scons -j$(nproc) && \
                    cd selfdrive/test/longitudinal_maneuvers && \
                    OPTEST=1 ./test_longitudinal.py"
      - name: Copy artifacts
        if: always()
        run: |
          mkdir out
          docker cp tmppilot:/tmp/openpilot/selfdrive/test/longitudinal_maneuvers/out/longitudinal/ out/
      - uses: actions/upload-artifact@v2
        if: always()
        continue-on-error: true
        with:
          name: longitudinal
          path: out

  test_car_models:
    name: test car models
    runs-on: ubuntu-20.04
    timeout-minutes: 50
    steps:
      - uses: actions/checkout@v2
        with:
          submodules: true
      - name: Cache dependencies
        id: dependency-cache
        uses: actions/cache@v2
        with:
          path: |
            /tmp/comma_download_cache
          key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/test_car_models.py') }}
      - name: Build Docker image
        run: eval "$BUILD"
      - name: Test car models
        run: |
          $PERSIST_WITH_CACHE "cd /tmp/openpilot && \
                    scons -j$(nproc) && \
                    FILEREADER_CACHE=1 coverage run --parallel-mode -m nose --processes=4 --process-timeout=60 \
                                 selfdrive/test/test_models.py && \
                    coverage combine"
      - name: Upload coverage to Codecov
        run: |
          docker commit tmppilot tmppilotci
          $CI_RUN "cd /tmp/openpilot && bash <(curl -s https://codecov.io/bash) -v -F test_car_models"