openpilot v0.9.6 release
date: 2024-01-12T10:13:37 master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6
This commit is contained in:
FrogAi
284
Jenkinsfile
vendored
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284
Jenkinsfile
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def retryWithDelay(int maxRetries, int delay, Closure body) {
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for (int i = 0; i < maxRetries; i++) {
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try {
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return body()
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} catch (Exception e) {
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sleep(delay)
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}
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}
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throw Exception("Failed after ${maxRetries} retries")
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}
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def device(String ip, String step_label, String cmd) {
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withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
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def ssh_cmd = """
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ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
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set -e
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export CI=1
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export PYTHONWARNINGS=error
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export LOGPRINT=debug
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export TEST_DIR=${env.TEST_DIR}
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export SOURCE_DIR=${env.SOURCE_DIR}
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export GIT_BRANCH=${env.GIT_BRANCH}
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export GIT_COMMIT=${env.GIT_COMMIT}
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export AZURE_TOKEN='${env.AZURE_TOKEN}'
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export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
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# only use 1 thread for tici tests since most require HIL
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export PYTEST_ADDOPTS="-n 0"
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export GIT_SSH_COMMAND="ssh -i /data/gitkey"
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source ~/.bash_profile
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if [ -f /TICI ]; then
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source /etc/profile
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rm -rf ~/.commacache
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if ! systemctl is-active --quiet systemd-resolved; then
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echo "restarting resolved"
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sudo systemctl start systemd-resolved
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sleep 3
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fi
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# restart aux USB
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if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
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echo "restarting aux usb"
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echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
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sleep 0.5
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echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
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fi
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fi
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if [ -f /data/openpilot/launch_env.sh ]; then
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source /data/openpilot/launch_env.sh
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fi
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ln -snf ${env.TEST_DIR} /data/pythonpath
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cd ${env.TEST_DIR} || true
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${cmd}
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exit 0
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END"""
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sh script: ssh_cmd, label: step_label
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}
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}
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def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
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stage(stageName) {
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if (currentBuild.result != null) {
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return
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}
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def extra = extra_env.collect { "export ${it}" }.join('\n');
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def branch = env.BRANCH_NAME ?: 'master';
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docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
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lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
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timeout(time: 20, unit: 'MINUTES') {
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retry (3) {
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device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
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}
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steps.each { item ->
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if (branch != "master" && item.size() == 3 && !hasDirectoryChanged(item[2])) {
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println "Skipped '${item[0]}', no relevant changes were detected."
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return;
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}
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device(device_ip, item[0], item[1])
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}
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}
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}
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}
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}
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}
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def pcStage(String stageName, Closure body) {
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node {
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stage(stageName) {
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if (currentBuild.result != null) {
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return
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}
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checkout scm
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def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE}";
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def openpilot_base = retryWithDelay (3, 15) {
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return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
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}
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lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) {
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openpilot_base.inside(dockerArgs) {
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timeout(time: 20, unit: 'MINUTES') {
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try {
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retryWithDelay (3, 15) {
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sh "git config --global --add safe.directory '*'"
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sh "git submodule update --init --recursive"
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sh "git lfs pull"
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}
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body()
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} finally {
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sh "rm -rf ${env.WORKSPACE}/* || true"
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sh "rm -rf .* || true"
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}
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}
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}
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}
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}
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}
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}
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def setupCredentials() {
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withCredentials([
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string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
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string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
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]) {
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env.AZURE_TOKEN = "${AZURE_TOKEN}"
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env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
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}
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}
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def hasDirectoryChanged(List<String> paths) {
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for (change in currentBuild.changeSets) {
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for (item in change.items) {
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for (affectedPath in item.affectedPaths) {
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for (path in paths) {
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if (affectedPath.startsWith(path)) {
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return true
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}
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}
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}
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}
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}
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return false
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}
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node {
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env.CI = "1"
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env.PYTHONWARNINGS = "error"
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env.TEST_DIR = "/data/openpilot"
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env.SOURCE_DIR = "/data/openpilot_source/"
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setupCredentials()
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env.GIT_BRANCH = checkout(scm).GIT_BRANCH
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env.GIT_COMMIT = checkout(scm).GIT_COMMIT
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def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
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'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*']
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def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
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if (env.BRANCH_NAME != 'master') {
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properties([
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disableConcurrentBuilds(abortPrevious: true)
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])
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}
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try {
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if (env.BRANCH_NAME == 'devel-staging') {
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deviceStage("build release3-staging", "tici-needs-can", [], [
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["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
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])
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}
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if (env.BRANCH_NAME == 'master-ci') {
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deviceStage("build nightly", "tici-needs-can", [], [
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["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
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])
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}
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if (!env.BRANCH_NAME.matches(excludeRegex)) {
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parallel (
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// tici tests
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'onroad tests': {
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deviceStage("onroad", "tici-needs-can", [], [
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// TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
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//["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
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["build openpilot", "cd selfdrive/manager && ./build.py"],
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["check dirty", "release/check-dirty.sh"],
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["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
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["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
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])
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},
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'HW + Unit Tests': {
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deviceStage("tici", "tici-common", ["UNSAFE=1"], [
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["build", "cd selfdrive/manager && ./build.py"],
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["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]],
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["test power draw", "./system/hardware/tici/tests/test_power_draw.py"],
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["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
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["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
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["test manager", "pytest selfdrive/manager/test/test_manager.py"],
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])
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},
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'loopback': {
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deviceStage("tici", "tici-loopback", ["UNSAFE=1"], [
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["build openpilot", "cd selfdrive/manager && ./build.py"],
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["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
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])
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},
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'camerad': {
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deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
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["build", "cd selfdrive/manager && ./build.py"],
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["test camerad", "pytest system/camerad/test/test_camerad.py"],
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["test exposure", "pytest system/camerad/test/test_exposure.py"],
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])
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deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
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["build", "cd selfdrive/manager && ./build.py"],
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["test camerad", "pytest system/camerad/test/test_camerad.py"],
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["test exposure", "pytest system/camerad/test/test_exposure.py"],
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])
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},
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'sensord': {
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deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
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["build", "cd selfdrive/manager && ./build.py"],
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["test sensord", "pytest system/sensord/tests/test_sensord.py"],
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])
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deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
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["build", "cd selfdrive/manager && ./build.py"],
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["test sensord", "pytest system/sensord/tests/test_sensord.py"],
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])
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},
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'replay': {
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deviceStage("tici", "tici-replay", ["UNSAFE=1"], [
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["build", "cd selfdrive/manager && ./build.py"],
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["model replay", "selfdrive/test/process_replay/model_replay.py"],
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])
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},
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'tizi': {
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deviceStage("tizi", "tizi", ["UNSAFE=1"], [
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["build openpilot", "cd selfdrive/manager && ./build.py"],
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["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
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["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]],
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["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
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["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
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["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", ["system/qcomgpsd/"]],
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])
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},
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// *** PC tests ***
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'PC tests': {
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pcStage("PC tests") {
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// tests that our build system's dependencies are configured properly,
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// needs a machine with lots of cores
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sh label: "test multi-threaded build",
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script: '''#!/bin/bash
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scons --no-cache --random -j$(nproc)'''
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}
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},
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'car tests': {
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pcStage("car tests") {
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sh label: "build", script: "selfdrive/manager/build.py"
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sh label: "run car tests", script: "cd selfdrive/car/tests && MAX_EXAMPLES=300 INTERNAL_SEG_CNT=300 FILEREADER_CACHE=1 \
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INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt pytest test_models.py test_car_interfaces.py"
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}
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},
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)
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}
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} catch (Exception e) {
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currentBuild.result = 'FAILED'
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throw e
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}
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}
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