Compile FrogPilot
This commit is contained in:
FrogAi
252
Jenkinsfile
vendored
252
Jenkinsfile
vendored
@@ -1,252 +0,0 @@
|
||||
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='${env.AZURE_TOKEN}'
|
||||
export MAPBOX_TOKEN='${env.MAPBOX_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/*
|
||||
|
||||
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 ${it}" }.join('\n');
|
||||
def branch = env.BRANCH_NAME ?: 'master';
|
||||
|
||||
lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
|
||||
docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
|
||||
timeout(time: 20, unit: 'MINUTES') {
|
||||
retry (3) {
|
||||
device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
|
||||
}
|
||||
steps.each { item ->
|
||||
device(device_ip, item[0], item[1])
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def pcStage(String stageName, Closure body) {
|
||||
node {
|
||||
stage(stageName) {
|
||||
if (currentBuild.result != null) {
|
||||
return
|
||||
}
|
||||
|
||||
checkout scm
|
||||
|
||||
def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
|
||||
|
||||
def openpilot_base = retryWithDelay (3, 15) {
|
||||
return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
|
||||
}
|
||||
|
||||
lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
|
||||
openpilot_base.inside(dockerArgs) {
|
||||
timeout(time: 20, unit: 'MINUTES') {
|
||||
try {
|
||||
retryWithDelay (3, 15) {
|
||||
sh "git config --global --add safe.directory '*'"
|
||||
sh "git submodule update --init --recursive"
|
||||
sh "git lfs pull"
|
||||
}
|
||||
body()
|
||||
} finally {
|
||||
sh "rm -rf ${env.WORKSPACE}/* || true"
|
||||
sh "rm -rf .* || true"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
def setupCredentials() {
|
||||
withCredentials([
|
||||
string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
|
||||
string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
|
||||
]) {
|
||||
env.AZURE_TOKEN = "${AZURE_TOKEN}"
|
||||
env.MAPBOX_TOKEN = "${MAPBOX_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 selfdrive/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 selfdrive/manager && ./build.py"],
|
||||
["test pandad", "pytest selfdrive/boardd/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/sensord/tests/test_pigeond.py"],
|
||||
["test manager", "pytest selfdrive/manager/test/test_manager.py"],
|
||||
])
|
||||
},
|
||||
'loopback': {
|
||||
deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
|
||||
["build openpilot", "cd selfdrive/manager && ./build.py"],
|
||||
["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
])
|
||||
},
|
||||
'camerad': {
|
||||
deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
|
||||
["build", "cd selfdrive/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 selfdrive/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 selfdrive/manager && ./build.py"],
|
||||
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
|
||||
])
|
||||
deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["test sensord", "pytest system/sensord/tests/test_sensord.py"],
|
||||
])
|
||||
},
|
||||
'replay': {
|
||||
deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
|
||||
["build", "cd selfdrive/manager && ./build.py"],
|
||||
["model replay", "selfdrive/test/process_replay/model_replay.py"],
|
||||
])
|
||||
},
|
||||
'tizi': {
|
||||
deviceStage("tizi", "tizi", ["UNSAFE=1"], [
|
||||
["build openpilot", "cd selfdrive/manager && ./build.py"],
|
||||
["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test pandad", "pytest selfdrive/boardd/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
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user