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openpilot v0.9.6 release

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date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
This commit is contained in:
FrogAi
2024-02-27 16:34:45 -07:00
commit 2901597132
1940 changed files with 647891 additions and 0 deletions
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47
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name: Bug report
description: For issues with running openpilot on your comma device
labels: ["bug"]
body:
- type: markdown
attributes:
value: >
Before creating a **bug report**, please check the following:
* If the issue likely only affects your car model or make, go back and open a **car bug report** instead.
* If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead.
* Ensure you're running the latest openpilot release.
* Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
- type: textarea
attributes:
label: Describe the bug
description: Also include a description of how to reproduce the bug
validations:
required: true
- type: input
id: route
attributes:
label: Provide a route where the issue occurs
description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID.
placeholder: 77611a1fac303767|2020-05-11--16-37-07
validations:
required: true
- type: input
id: version
attributes:
label: openpilot version
description: If you're not on release, provide the commit hash
placeholder: 0.8.10
validations:
required: true
- type: textarea
attributes:
label: Additional info

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.github/ISSUE_TEMPLATE/car_bug_report.yml vendored Normal file
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name: Car bug report
description: For issues with a particular car make or model
labels: ["car", "bug"]
body:
- type: markdown
attributes:
value: >
Before creating a **bug report**, please check the following:
* Ensure you're running the latest openpilot release.
* Ensure you're using officially supported hardware. Issues running on PCs have a different issue template.
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
- type: textarea
attributes:
label: Describe the bug
description: Also include a description of how to reproduce the bug
validations:
required: true
- type: input
id: car
attributes:
label: Which car does this affect?
placeholder: Toyota Prius 2017
validations:
required: true
- type: input
id: route
attributes:
label: Provide a route where the issue occurs
description: Ensure the route is fully uploaded at https://useradmin.comma.ai
placeholder: 77611a1fac303767|2020-05-11--16-37-07
validations:
required: true
- type: input
id: version
attributes:
label: openpilot version
description: If you're not on release, provide the commit hash
placeholder: 0.8.10
validations:
required: true
- type: textarea
attributes:
label: Additional info

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blank_issues_enabled: false
contact_links:
- name: Report model bugs
url: https://github.com/commaai/openpilot/discussions/categories/model-feedback
about: Provide feedback for the driving or driver monitoring models
- name: Discussions
url: https://github.com/commaai/openpilot/discussions
about: For questions and general discussion about openpilot
- name: Community Wiki
url: https://github.com/commaai/openpilot/wiki
about: Check out our community wiki
- name: Community Discord
url: https://discord.comma.ai
about: Check out our community discord

8
.github/ISSUE_TEMPLATE/enhancement.md vendored Normal file
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---
name: Enhancement
about: For openpilot enhancement suggestions
title: ''
labels: 'enhancement'
assignees: ''
---

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name: PC bug report
description: For issues with running openpilot on PC
labels: ["PC"]
body:
- type: markdown
attributes:
value: >
Before creating a **bug report**, please check the following:
* Ensure you're running the latest openpilot release.
* Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue.
* Ensure you're running stock openpilot. We cannot look into bug reports from forks.
If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai).
- type: textarea
attributes:
label: Describe the bug
description: Also include a description of how to reproduce the bug
validations:
required: true
- type: input
id: os-version
attributes:
label: OS Version
placeholder: Ubuntu 20.04
validations:
required: true
- type: input
id: version
attributes:
label: openpilot version or commit
placeholder: bd36f2ec8d3559909678eff2690c10a520938367
validations:
required: false
- type: textarea
attributes:
label: Additional info

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.github/PULL_REQUEST_TEMPLATE/bugfix.md vendored Normal file
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---
name: Bug fix
about: For openpilot bug fixes
title: ''
labels: 'bugfix'
assignees: ''
---
**Description**
<!-- A description of the bug and the fix. Also link the issue if it exists. -->
**Verification**
<!-- Explain how you tested this bug fix. -->

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---
name: Car Bug fix
about: For vehicle/brand specific bug fixes
title: ''
labels: 'car bug fix'
assignees: ''
---
**Description**
<!-- A description of the bug and the fix. Also link the issue if it exists. -->
**Verification**
<!-- Explain how you tested this bug fix. -->
**Route**
Route: [a route with the bug fix]

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.github/PULL_REQUEST_TEMPLATE/car_port.md vendored Normal file
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---
name: Car port
about: For new car ports
title: ''
labels: 'car port'
assignees: ''
---
**Checklist**
- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
- [ ] route with openpilot:
- [ ] route with stock system:
- [ ] car harness used (if comma doesn't sell it, put N/A):

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---
name: Fingerprint
about: For adding fingerprints to existing cars
title: ''
labels: 'fingerprint'
assignees: ''
---
**Car**
Which car (make, model, year) this fingerprint is for
**Route**
A route with the fingerprint

15
.github/PULL_REQUEST_TEMPLATE/refactor.md vendored Normal file
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---
name: Refactor
about: For code refactors
title: ''
labels: 'refactor'
assignees: ''
---
**Description**
<!-- A description of the refactor, including the goals it accomplishes. -->
**Verification**
<!-- Explain how you tested the refactor for regressions. -->

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---
name: Tuning
about: For openpilot tuning changes
title: ''
labels: 'tuning'
assignees: ''
---
**Description**
<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
**Verification**
<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
Use the PlotJuggler tuning layout to compare planned versus actual behavior.
Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
Longitudinal:
* Maintaining speed at 25, 40, 65mph
* Driving up and down hills
* Accelerating from a stop
* Decelerating to a stop
* Following large changes in set speed
* Coming to a stop behind a lead car
Lateral:
* Straight driving at ~25, ~45 and ~65mph
* Turns driving at ~25, ~45 and ~65mph
-->

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import pathlib
GITHUB_FOLDER = pathlib.Path(__file__).parent
PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
def create_pull_request_template():
with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
f.write("<!-- Please copy and paste the relevant template -->\n\n")
for t in order:
template = PULL_REQUEST_TEMPLATES / f"{t}.md"
text = template.read_text()
# Remove metadata for GitHub
start = text.find("---")
end = text.find("---", start+1)
text = text[end + 4:]
# Remove comments
text = text.replace("<!-- ", "").replace("-->", "")
f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
f.write(text)
f.write("\n\n")
f.write("-->\n\n")
create_pull_request_template()

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CI / testing:
- changed-files:
- any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
car:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/**'
body:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/body/*'
chrysler:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/chrysler/*'
ford:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/ford/*'
gm:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/gm/*'
honda:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/honda/*'
hyundai:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/hyundai/*'
mazda:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/mazda/*'
nissan:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/nissan/*'
subaru:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/subaru/*'
tesla:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/telsa/*'
toyota:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/toyota/*'
volkswagen:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/volkswagen/*'
fingerprint:
- changed-files:
- any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py'
simulation:
- changed-files:
- any-glob-to-all-files: 'tools/sim/**'
ui:
- changed-files:
- any-glob-to-all-files: 'selfdrive/ui/**'
tools:
- changed-files:
- any-glob-to-all-files: 'tools/**'
multilanguage:
- changed-files:
- any-glob-to-all-files: 'selfdrive/ui/translations/**'
research:
- changed-files:
- any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

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<!-- Please copy and paste the relevant template -->
<!--- ***** Template: Fingerprint *****
**Car**
Which car (make, model, year) this fingerprint is for
**Route**
A route with the fingerprint
-->
<!--- ***** Template: Car Bugfix *****
**Description**
A description of the bug and the fix. Also link the issue if it exists.
**Verification**
Explain how you tested this bug fix.
**Route**
Route: [a route with the bug fix]
-->
<!--- ***** Template: Bugfix *****
**Description**
A description of the bug and the fix. Also link the issue if it exists.
**Verification**
Explain how you tested this bug fix.
-->
<!--- ***** Template: Car Port *****
**Checklist**
- [ ] added entry to CarInfo in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
- [ ] route with openpilot:
- [ ] route with stock system:
- [ ] car harness used (if comma doesn't sell it, put N/A):
-->
<!--- ***** Template: Refactor *****
**Description**
A description of the refactor, including the goals it accomplishes.
**Verification**
Explain how you tested the refactor for regressions.
-->

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name: 'automatically cache based on current runner'
inputs:
path:
description: 'path to cache'
required: true
key:
description: 'key'
required: true
restore-keys:
description: 'restore-keys'
required: true
save:
description: 'whether to save the cache'
default: 'false'
required: false
runs:
using: "composite"
steps:
- name: setup namespace cache
if: ${{ contains(runner.name, 'nsc') }}
uses: namespacelabs/nscloud-cache-action@v1
with:
path: ${{ inputs.path }}
- name: setup github cache
if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
uses: 'actions/cache@v3'
with:
path: ${{ inputs.path }}
key: ${{ inputs.key }}
restore-keys: ${{ inputs.restore-keys }}
- name: setup github cache
if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
uses: 'actions/cache/restore@v3'
with:
path: ${{ inputs.path }}
key: ${{ inputs.key }}
restore-keys: ${{ inputs.restore-keys }}
# make the directory manually in case we didn't get a hit, so it doesn't fail on future steps
- id: scons-cache-setup
shell: bash
run: |
mkdir -p ${{ inputs.path }}
sudo chmod -R 777 ${{ inputs.path }}
sudo chown -R $USER ${{ inputs.path }}

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name: "PR review"
on:
pull_request_target:
types: [opened, reopened, synchronize, edited, edited]
jobs:
labeler:
name: apply labels
permissions:
contents: read
pull-requests: write
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
submodules: false
- uses: actions/labeler@v5.0.0
with:
dot: true
configuration-path: .github/labeler.yaml
pr_branch_check:
name: check branch
runs-on: ubuntu-latest
if: github.repository == 'commaai/openpilot'
steps:
- uses: Vankka/pr-target-branch-action@69ab6dd5c221de3548b3b6c4d102c1f4913d3baa
env:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
with:
target: /^(?!master$).*/
exclude: /commaai:.*/
change-to: ${{ github.base_ref }}
already-exists-action: close_this
already-exists-comment: "Your PR should be made against the `master` branch"
comment:
runs-on: ubuntu-latest
steps:
- name: comment
uses: thollander/actions-comment-pull-request@fabd468d3a1a0b97feee5f6b9e499eab0dd903f6
if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
with:
message: |
<!-- _(run_id **${{ github.run_id }}**)_ -->
Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
* Convert your PR to a draft unless it's ready to review
* Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
* Before marking as "ready for review", ensure:
* the goal is clearly stated in the description
* all the tests are passing
* the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
* include a route or your device' dongle ID if relevant
comment_tag: run_id
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
check-pr-template:
runs-on: ubuntu-latest
permissions:
contents: read
issues: write
pull-requests: write
actions: read
if: false && github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
steps:
- uses: actions/github-script@v7
with:
script: |
// Comment to add to the PR if no template has been used
const NO_TEMPLATE_MESSAGE =
"It looks like you didn't use one of the Pull Request templates. Please check [the contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md). \
Also make sure that you didn't modify any of the checkboxes or headings within the template.";
// body data for future requests
const body_data = {
issue_number: context.issue.number,
owner: context.repo.owner,
repo: context.repo.repo,
};
// Utility function to extract all headings
const extractHeadings = (markdown) => {
const headingRegex = /^(#{1,6})\s+(.+)$/gm;
const boldTextRegex = /^(?:\*\*|__)(.+?)(?:\*\*|__)\s*$/gm;
const headings = [];
let headingMatch;
while ((headingMatch = headingRegex.exec(markdown))) {
headings.push(headingMatch[2].trim());
}
let boldMatch;
while ((boldMatch = boldTextRegex.exec(markdown))) {
headings.push(boldMatch[1].trim());
}
return headings;
};
// Utility function to extract all check box descriptions
const extractCheckBoxTexts = (markdown) => {
const checkboxRegex = /^\s*-\s*\[( |x)\]\s+(.+)$/gm;
const checkboxes = [];
let match;
while ((match = checkboxRegex.exec(markdown))) {
checkboxes.push(match[2].trim());
}
return checkboxes;
};
// Utility function to check if a list is a subset of another list
isSubset = (subset, superset) => {
return subset.every((item) => superset.includes(item));
};
// Utility function to check if a list of checkboxes is a subset of another list of checkboxes
isCheckboxSubset = (templateCheckBoxTexts, prTextCheckBoxTexts) => {
// Check if each template checkbox text is a substring of at least one PR checkbox text
// (user should be allowed to add additional text)
return templateCheckBoxTexts.every((item) => prTextCheckBoxTexts.some((element) => element.includes(item)))
}
// Get filenames of all currently checked-in PR templates
const template_contents = await github.rest.repos.getContent({
owner: context.repo.owner,
repo: context.repo.repo,
path: ".github/PULL_REQUEST_TEMPLATE",
});
var template_filenames = [];
for (const content of template_contents.data) {
template_filenames.push(content.path);
}
console.debug("Received template filenames: " + template_filenames);
// Retrieve templates
var templates = [];
for (const template_filename of template_filenames) {
const template_response = await github.rest.repos.getContent({
owner: context.repo.owner,
repo: context.repo.repo,
path: template_filename,
});
// Convert Base64 content back
const decoded_template = atob(template_response.data.content);
const headings = extractHeadings(decoded_template);
const checkboxes = extractCheckBoxTexts(decoded_template);
if (!headings.length && !checkboxes.length) {
console.warn(
"Invalid template! Contains neither headings nor checkboxes, ignoring it: \n" +
decoded_template
);
} else {
templates.push({ headings: headings, checkboxes: checkboxes });
}
}
// Retrieve the PR Body
const pull_request = await github.rest.issues.get({
...body_data,
});
const pull_request_text = pull_request.data.body;
console.debug("Received Pull Request body: \n" + pull_request_text);
/* Check if the PR Body matches one of the templates
A template is defined by all headings and checkboxes it contains
We extract all Headings and Checkboxes from the PR text and check if any of the templates is a subset of that
*/
const pr_headings = extractHeadings(pull_request_text);
const pr_checkboxes = extractCheckBoxTexts(pull_request_text);
console.debug("Found Headings in PR body:\n" + pr_headings);
console.debug("Found Checkboxes in PR body:\n" + pr_checkboxes);
var template_found = false;
// Iterate over each template to check if it applies
for (const template of templates) {
console.log(
"Checking for headings: [" +
template.headings +
"] and checkboxes: [" +
template.checkboxes + "]"
);
if (
isCheckboxSubset(template.checkboxes, pr_checkboxes) &&
isSubset(template.headings, pr_headings)
) {
console.debug("Found matching template!");
template_found = true;
}
}
// List comments from previous runs
var existing_comments = [];
const comments = await github.rest.issues.listComments({
...body_data,
});
for (const comment of comments.data) {
if (comment.body === NO_TEMPLATE_MESSAGE) {
existing_comments.push(comment);
}
}
// Add a comment to the PR that it is not using a the template (but only if this comment does not exist already)
if (!template_found) {
var comment_already_sent = false;
// Add an 'in-bot-review' label since this PR doesn't have the template
github.rest.issues.addLabels({
...body_data,
labels: ["in-bot-review"],
});
if (existing_comments.length < 1) {
github.rest.issues.createComment({
...body_data,
body: NO_TEMPLATE_MESSAGE,
});
}
} else {
// If template has been found, delete any old comment about missing template
for (const existing_comment of existing_comments) {
github.rest.issues.deleteComment({
...body_data,
comment_id: existing_comment.id,
});
}
// Remove the 'in-bot-review' label after the review is done and the PR has passed
github.rest.issues.removeLabel({
...body_data,
name: "in-bot-review",
}).catch((error) => {
console.log("Label 'in-bot-review' not found, ignoring");
});
}

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name: badges
on:
schedule:
- cron: '0 * * * *'
workflow_dispatch:
env:
BASE_IMAGE: openpilot-base
DOCKER_REGISTRY: ghcr.io/commaai
RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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 $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
jobs:
badges:
name: create badges
runs-on: ubuntu-20.04
if: github.repository == 'commaai/openpilot'
permissions:
contents: write
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Push badges
run: |
${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
rm .gitattributes
git checkout --orphan badges
git rm -rf --cached .
git config user.email "badge-researcher@comma.ai"
git config user.name "Badge Researcher"
git add translation_badge.svg
git commit -m "Add/Update badges"
git push -f origin HEAD

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.github/workflows/compile-openpilot/action.yaml vendored Normal file
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name: 'compile openpilot'
runs:
using: "composite"
steps:
- shell: bash
name: Build openpilot with all flags
run: |
${{ env.RUN }} "scons -j$(nproc)"
${{ env.RUN }} "release/check-dirty.sh"
- shell: bash
name: Cleanup scons cache and rebuild
run: |
${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
scons -j$(nproc) --cache-populate"
- name: Save scons cache
uses: actions/cache/save@v3
if: github.ref == 'refs/heads/master'
with:
path: .ci_cache/scons_cache
key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

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name: docs
on:
push:
branches:
- master
pull_request:
concurrency:
group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
cancel-in-progress: true
env:
BASE_IMAGE: openpilot-base
BUILD: selfdrive/test/docker_build.sh base
RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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
jobs:
docs:
name: build docs
runs-on: ubuntu-20.04
timeout-minutes: 45
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
- name: Build docs
run: |
${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
- uses: actions/checkout@v4
if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
with:
path: openpilot-docs
ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
repository: commaai/openpilot-docs
- name: Push
if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
run: |
set -x
source release/identity.sh
cd openpilot-docs
git checkout --orphan tmp
git rm -rf .
cp -r ../build/docs/html/ docs/
cp -r ../docs/README.md .
touch docs/.nojekyll
echo -n docs.comma.ai > docs/CNAME
git add -f .
git commit -m "build docs"
# docs live in different repo to not bloat openpilot's full clone size
git push -f origin tmp:gh-pages

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name: prebuilt
on:
schedule:
- cron: '0 * * * *'
workflow_dispatch:
env:
DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
BUILD: selfdrive/test/docker_build.sh prebuilt
jobs:
build_prebuilt:
name: build prebuilt
runs-on: ubuntu-20.04
if: github.repository == 'commaai/openpilot'
env:
PUSH_IMAGE: true
permissions:
checks: read
contents: read
packages: write
steps:
- name: Wait for green check mark
if: ${{ github.event_name != 'workflow_dispatch' }}
uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
with:
ref: master
wait-interval: 30
running-workflow-name: 'build prebuilt'
repo-token: ${{ secrets.GITHUB_TOKEN }}
check-regexp: ^((?!.*(build master-ci).*).)*$
- uses: actions/checkout@v4
with:
submodules: true
- run: git lfs pull
- name: Build and Push docker image
run: |
$DOCKER_LOGIN
eval "$BUILD"

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name: release
on:
schedule:
- cron: '0 10 * * *'
workflow_dispatch:
jobs:
build_masterci:
name: build master-ci
env:
TARGET_DIR: /tmp/openpilot
ImageOS: ubuntu20
container:
image: ghcr.io/commaai/openpilot-base:latest
runs-on: ubuntu-20.04
if: github.repository == 'commaai/openpilot'
permissions:
checks: read
contents: write
steps:
- name: Install wait-on-check-action dependencies
run: |
sudo apt-get update
sudo apt-get install -y libyaml-dev
- name: Wait for green check mark
if: ${{ github.event_name != 'workflow_dispatch' }}
uses: lewagon/wait-on-check-action@595dabb3acf442d47e29c9ec9ba44db0c6bdd18f
with:
ref: master
wait-interval: 30
running-workflow-name: 'build master-ci'
repo-token: ${{ secrets.GITHUB_TOKEN }}
check-regexp: ^((?!.*(build prebuilt).*).)*$
- uses: actions/checkout@v4
with:
submodules: true
fetch-depth: 0
- name: Pull LFS
run: |
git config --global --add safe.directory '*'
git lfs pull
- name: Build master-ci
run: |
release/build_devel.sh
- name: Run tests
run: |
export PYTHONPATH=$TARGET_DIR
cd $TARGET_DIR
scons -j$(nproc)
pytest -n logical selfdrive/car/tests/test_car_interfaces.py
- name: Push master-ci
run: |
unset TARGET_DIR
BRANCH=master-ci release/build_devel.sh

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name: repo maintenance
on:
schedule:
- cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
workflow_dispatch:
jobs:
bump_submodules:
name: bump_submodules
runs-on: ubuntu-20.04
container:
image: ghcr.io/commaai/openpilot-base:latest
if: github.repository == 'commaai/openpilot'
steps:
- uses: actions/checkout@v4
with:
submodules: true
- name: bump submodules
run: |
git config --global --add safe.directory '*'
git -c submodule."tinygrad".update=none submodule update --remote
git add .
- name: Create Pull Request
uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
with:
token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
commit-message: bump submodules
title: '[bot] Bump submodules'
branch: auto-bump-submodules
base: master
delete-branch: true
body: 'Automatic PR from repo-maintenance -> bump_submodules'
labels: bot
package_updates:
name: package_updates
runs-on: ubuntu-20.04
container:
image: ghcr.io/commaai/openpilot-base:latest
if: github.repository == 'commaai/openpilot'
steps:
- uses: actions/checkout@v4
- name: poetry lock
run: |
pip install poetry
poetry lock
- name: pre-commit autoupdate
run: |
git config --global --add safe.directory '*'
pre-commit autoupdate
- name: Create Pull Request
uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
with:
token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
commit-message: Update Python packages and pre-commit hooks
title: '[bot] Update Python packages and pre-commit hooks'
branch: auto-package-updates
base: master
delete-branch: true
body: 'Automatic PR from repo-maintenance -> package_updates'
labels: bot

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name: selfdrive
on:
push:
branches:
- master
pull_request:
workflow_dispatch:
concurrency:
group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ 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 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -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/pre-commit:/tmp/pre-commit -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 $BASE_IMAGE /bin/bash -c
PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
jobs:
build_release:
name: build release
runs-on: ubuntu-20.04
env:
STRIPPED_DIR: /tmp/releasepilot
steps:
- uses: actions/checkout@v4
with:
submodules: true
- run: git lfs pull
- name: Build devel
timeout-minutes: 1
run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
- uses: ./.github/workflows/setup-pre-commit
- 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 }} "python selfdrive/manager/build.py"
- name: Run tests
timeout-minutes: 3
run: |
cd $STRIPPED_DIR
${{ env.RUN }} "release/check-dirty.sh && \
MAX_EXAMPLES=5 $PYTEST selfdrive/car"
- name: pre-commit
timeout-minutes: 3
run: |
cd $GITHUB_WORKSPACE
cp .pre-commit-config.yaml $STRIPPED_DIR
cp pyproject.toml $STRIPPED_DIR
cp poetry.lock $STRIPPED_DIR
cd $STRIPPED_DIR
${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all && chmod -R 777 /tmp/pre-commit"
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-20.04' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- 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
docker_push:
name: docker push
strategy:
matrix:
arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-20.04' }}
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
steps:
- uses: actions/checkout@v4
with:
submodules: true
- name: Setup to push to repo
run: |
echo "PUSH_IMAGE=true" >> "$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 }}
docker_push_multiarch:
name: docker push multiarch tag
runs-on: ubuntu-20.04
if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
needs: [docker_push]
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-20.04' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-pre-commit
- uses: ./.github/workflows/setup-with-retry
- name: pre-commit
timeout-minutes: 4
run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
valgrind:
name: valgrind
runs-on: ubuntu-20.04
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
run: ${{ env.RUN }} "scons -j$(nproc)"
- name: Run valgrind
timeout-minutes: 1
run: |
${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
- name: Print logs
if: always()
run: cat selfdrive/test/valgrind_logs.txt
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-20.04' }}
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 && \
export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
$PYTEST --timeout 60 -m 'not slow' && \
./selfdrive/ui/tests/create_test_translations.sh && \
QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
./selfdrive/ui/tests/test_translations.py"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v3
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-20.04' }}
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
with:
docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
- name: Cache test routes
id: dependency-cache
uses: actions/cache@v3
with:
path: .ci_cache/comma_download_cache
key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
- 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@v3
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' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v3
with:
name: ${{ github.job }}
env:
CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
regen:
name: regen
runs-on: 'ubuntu-20.04'
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Cache test routes
id: dependency-cache
uses: actions/cache@v3
with:
path: .ci_cache/comma_download_cache
key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
- name: Build base Docker image
run: eval "$BUILD"
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
- name: Run regen
timeout-minutes: 30
run: |
${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
chmod -R 777 /tmp/comma_download_cache"
test_modeld:
name: model tests
runs-on: ubuntu-20.04
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build base Docker image
run: eval "$BUILD"
- name: Build openpilot
run: |
${{ env.RUN }} "scons -j$(nproc)"
# 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 unit tests
timeout-minutes: 4
run: |
${{ env.RUN }} "unset PYTHONWARNINGS && \
$PYTEST selfdrive/modeld"
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v3
with:
name: ${{ github.job }}
env:
CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
test_cars:
name: cars
runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
((github.event_name != 'pull_request') ||
(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-20.04' }}
strategy:
fail-fast: false
matrix:
job: [0, 1, 2, 3, 4]
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Cache test routes
id: dependency-cache
uses: ./.github/workflows/auto-cache
with:
path: .ci_cache/comma_download_cache
key: car_models-${{ 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: 10
run: |
${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
chmod -R 777 /tmp/comma_download_cache"
env:
NUM_JOBS: 5
JOB_ID: ${{ matrix.job }}
- name: "Upload coverage to Codecov"
uses: codecov/codecov-action@v3
with:
name: ${{ github.job }}-${{ matrix.job }}
env:
CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
car_docs_diff:
name: PR comments
runs-on: ubuntu-20.04
if: github.event_name == 'pull_request'
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) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
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 }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
output="${output//$'\n'/'%0A'}"
echo "::set-output name=diff::$output"
- name: Find comment
if: ${{ env.AZURE_TOKEN != '' }}
uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
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@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
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@v6
with:
script: |
github.rest.issues.deleteComment({
owner: context.repo.owner,
repo: context.repo.repo,
comment_id: ${{ steps.fc.outputs.comment-id }}
})
create_ui_report:
name: Create UI Report
runs-on: ubuntu-20.04
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 Test Report
run: >
${{ env.RUN }} "PYTHONWARNINGS=ignore &&
source selfdrive/test/setup_xvfb.sh &&
export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
python selfdrive/ui/tests/test_ui/run.py"
- name: Upload Test Report
uses: actions/upload-artifact@v2
with:
name: report
path: selfdrive/ui/tests/test_ui/report

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.github/workflows/setup-pre-commit/action.yaml vendored Normal file
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name: 'set up pre-commit environment'
runs:
using: "composite"
steps:
- uses: ./.github/workflows/auto-cache
with:
path: .ci_cache/pre-commit
key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
restore-keys: |
pre-commit-
save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}

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.github/workflows/setup-with-retry/action.yaml vendored Normal file
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name: 'openpilot env setup, with retry on failure'
inputs:
docker_hub_pat:
description: 'Auth token for Docker Hub, required for BuildJet jobs'
required: false
default: ''
sleep_time:
description: 'Time to sleep between retries'
required: false
default: 30
runs:
using: "composite"
steps:
- id: setup1
uses: ./.github/workflows/setup
continue-on-error: true
with:
docker_hub_pat: ${{ inputs.docker_hub_pat }}
is_retried: true
- if: steps.setup1.outcome == 'failure'
shell: bash
run: sleep ${{ inputs.sleep_time }}
- id: setup2
if: steps.setup1.outcome == 'failure'
uses: ./.github/workflows/setup
continue-on-error: true
with:
docker_hub_pat: ${{ inputs.docker_hub_pat }}
is_retried: true
- if: steps.setup2.outcome == 'failure'
shell: bash
run: sleep ${{ inputs.sleep_time }}
- id: setup3
if: steps.setup2.outcome == 'failure'
uses: ./.github/workflows/setup
with:
docker_hub_pat: ${{ inputs.docker_hub_pat }}
is_retried: true

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name: 'openpilot env setup'
inputs:
docker_hub_pat:
description: 'Auth token for Docker Hub, required for BuildJet jobs'
required: true
default: ''
is_retried:
description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
required: false
default: 'false'
runs:
using: "composite"
steps:
# assert that this action is retried using the setup-with-retry
- shell: bash
if: ${{ inputs.is_retried == 'false' }}
run: |
echo "You should not run this action directly. Use setup-with-retry instead"
exit 1
# do this after checkout to ensure our custom LFS config is used to pull from GitLab
- shell: bash
run: git lfs pull
# on BuildJet runners, must be logged into DockerHub to avoid rate limiting
# https://buildjet.com/for-github-actions/docs/guides/docker
- shell: bash
if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
run: |
echo "Need to set the Docker Hub PAT secret as an input to this action"
exit 1
- name: Login to Docker Hub
if: contains(runner.name, 'buildjet')
shell: bash
run: |
docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
# build cache
- id: date
shell: bash
run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
- shell: bash
run: echo "$CACHE_COMMIT_DATE"
- id: scons-cache
uses: ./.github/workflows/auto-cache
with:
path: .ci_cache/scons_cache
key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
restore-keys: |
scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}
scons-${{ runner.arch }}
# as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
- id: normalize-file-permissions
shell: bash
name: Normalize file permissions to ensure a consistent docker build cache
run: |
find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
# build our docker image
- shell: bash
run: eval ${{ env.BUILD }}

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name: stale
on:
schedule:
- cron: '30 1 * * *'
workflow_dispatch:
env:
DAYS_BEFORE_PR_CLOSE: 7
DAYS_BEFORE_PR_STALE: 30
jobs:
stale:
runs-on: ubuntu-latest
steps:
- uses: actions/stale@v8
with:
exempt-milestones: true
# pull request config
stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale
days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
# issue config
days-before-issue-stale: -1 # ignore issues for now

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name: tools
on:
push:
branches:
- master
pull_request:
concurrency:
group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
cancel-in-progress: true
env:
BASE_IMAGE: openpilot-base
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 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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
jobs:
plotjuggler:
name: plotjuggler
runs-on: ubuntu-20.04
timeout-minutes: 45
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
timeout-minutes: 5
run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
- name: Test PlotJuggler
timeout-minutes: 2
run: |
${{ env.RUN }} "pytest tools/plotjuggler/"
simulator:
name: simulator
runs-on: ubuntu-20.04
if: github.repository == 'commaai/openpilot'
timeout-minutes: 45
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Setup to push to repo
if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
run: |
echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
$DOCKER_LOGIN
- name: Build and push sim image
run: |
selfdrive/test/docker_build.sh sim
devcontainer:
name: devcontainer
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Use local image for testing devcontainer with latest base image
run: |
echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
- name: Setup Dev Container CLI
run: npm install -g @devcontainers/cli
- name: Build dev container image
run: devcontainer build --workspace-folder .
- name: Run dev container
run: |
mkdir -p /tmp/devcontainer_scons_cache/
cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
devcontainer up --workspace-folder .
- name: Test environment
run: |
devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
devcontainer exec --workspace-folder . pip install pip-install-test
devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
devcontainer exec --workspace-folder . sudo touch /root/test.txt
notebooks:
name: notebooks
runs-on: ubuntu-20.04
if: false && github.repository == 'commaai/openpilot'
timeout-minutes: 45
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- 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: Test notebooks
timeout-minutes: 3
run: |
${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"