|  |  | @ -32,7 +32,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |   build_release: |  |  |  |   build_release: | 
			
		
	
		
		
			
				
					
					|  |  |  |     name: build release |  |  |  |     name: build release | 
			
		
	
		
		
			
				
					
					|  |  |  |     runs-on: ubuntu-20.04 |  |  |  |     runs-on: ubuntu-20.04 | 
			
		
	
		
		
			
				
					
					|  |  |  |     timeout-minutes: 30 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     env: |  |  |  |     env: | 
			
		
	
		
		
			
				
					
					|  |  |  |       STRIPPED_DIR: /tmp/releasepilot |  |  |  |       STRIPPED_DIR: /tmp/releasepilot | 
			
		
	
		
		
			
				
					
					|  |  |  |     steps: |  |  |  |     steps: | 
			
		
	
	
		
		
			
				
					|  |  | @ -66,7 +65,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |   build_all: |  |  |  |   build_all: | 
			
		
	
		
		
			
				
					
					|  |  |  |     name: build all |  |  |  |     name: build all | 
			
		
	
		
		
			
				
					
					|  |  |  |     runs-on: ubuntu-20.04 |  |  |  |     runs-on: ubuntu-20.04 | 
			
		
	
		
		
			
				
					
					|  |  |  |     timeout-minutes: 30 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     steps: |  |  |  |     steps: | 
			
		
	
		
		
			
				
					
					|  |  |  |     - uses: actions/checkout@v3 |  |  |  |     - uses: actions/checkout@v3 | 
			
		
	
		
		
			
				
					
					|  |  |  |       with: |  |  |  |       with: | 
			
		
	
	
		
		
			
				
					|  |  | @ -84,7 +82,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |   #build_mac: |  |  |  |   #build_mac: | 
			
		
	
		
		
			
				
					
					|  |  |  |   #  name: build macos |  |  |  |   #  name: build macos | 
			
		
	
		
		
			
				
					
					|  |  |  |   #  runs-on: macos-latest |  |  |  |   #  runs-on: macos-latest | 
			
		
	
		
		
			
				
					
					|  |  |  |   #  timeout-minutes: 60 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |   #  steps: |  |  |  |   #  steps: | 
			
		
	
		
		
			
				
					
					|  |  |  |   #  - uses: actions/checkout@v3 |  |  |  |   #  - uses: actions/checkout@v3 | 
			
		
	
		
		
			
				
					
					|  |  |  |   #    with: |  |  |  |   #    with: | 
			
		
	
	
		
		
			
				
					|  |  | @ -141,7 +138,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |   docker_push: |  |  |  |   docker_push: | 
			
		
	
		
		
			
				
					
					|  |  |  |     name: docker push |  |  |  |     name: docker push | 
			
		
	
		
		
			
				
					
					|  |  |  |     runs-on: ubuntu-20.04 |  |  |  |     runs-on: ubuntu-20.04 | 
			
		
	
		
		
			
				
					
					|  |  |  |     timeout-minutes: 22 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' |  |  |  |     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 |  |  |  |     needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast | 
			
		
	
		
		
			
				
					
					|  |  |  |     steps: |  |  |  |     steps: | 
			
		
	
	
		
		
			
				
					|  |  | @ -150,14 +146,12 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |         submodules: true |  |  |  |         submodules: true | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: Build Docker image |  |  |  |     - name: Build Docker image | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: eval "$BUILD" |  |  |  |       run: eval "$BUILD" | 
			
		
	
		
		
			
				
					
					|  |  |  |       timeout-minutes: 13 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: Push to container registry |  |  |  |     - name: Push to container registry | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: | |  |  |  |       run: | | 
			
		
	
		
		
			
				
					
					|  |  |  |         $DOCKER_LOGIN |  |  |  |         $DOCKER_LOGIN | 
			
		
	
		
		
			
				
					
					|  |  |  |         docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest |  |  |  |         docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: Build CL Docker image |  |  |  |     - name: Build CL Docker image | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: eval "$BUILD_CL" |  |  |  |       run: eval "$BUILD_CL" | 
			
		
	
		
		
			
				
					
					|  |  |  |       timeout-minutes: 4 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: Push to container registry |  |  |  |     - name: Push to container registry | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: | |  |  |  |       run: | | 
			
		
	
		
		
			
				
					
					|  |  |  |         $DOCKER_LOGIN |  |  |  |         $DOCKER_LOGIN | 
			
		
	
	
		
		
			
				
					|  |  | @ -166,7 +160,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |   static_analysis: |  |  |  |   static_analysis: | 
			
		
	
		
		
			
				
					
					|  |  |  |     name: static analysis |  |  |  |     name: static analysis | 
			
		
	
		
		
			
				
					
					|  |  |  |     runs-on: ubuntu-20.04 |  |  |  |     runs-on: ubuntu-20.04 | 
			
		
	
		
		
			
				
					
					|  |  |  |     timeout-minutes: 20 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     steps: |  |  |  |     steps: | 
			
		
	
		
		
			
				
					
					|  |  |  |     - uses: actions/checkout@v3 |  |  |  |     - uses: actions/checkout@v3 | 
			
		
	
		
		
			
				
					
					|  |  |  |       with: |  |  |  |       with: | 
			
		
	
	
		
		
			
				
					|  |  | @ -174,13 +167,11 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: Build Docker image |  |  |  |     - name: Build Docker image | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: eval "$BUILD" |  |  |  |       run: eval "$BUILD" | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: pre-commit |  |  |  |     - name: pre-commit | 
			
		
	
		
		
			
				
					
					|  |  |  |       timeout-minutes: 5 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: ${{ env.RUN }} "pre-commit run --all" |  |  |  |       run: ${{ env.RUN }} "pre-commit run --all" | 
			
		
	
		
		
			
				
					
					|  |  |  | 
 |  |  |  | 
 | 
			
		
	
		
		
			
				
					
					|  |  |  |   valgrind: |  |  |  |   valgrind: | 
			
		
	
		
		
			
				
					
					|  |  |  |     name: valgrind |  |  |  |     name: valgrind | 
			
		
	
		
		
			
				
					
					|  |  |  |     runs-on: ubuntu-20.04 |  |  |  |     runs-on: ubuntu-20.04 | 
			
		
	
		
		
			
				
					
					|  |  |  |     timeout-minutes: 20 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     steps: |  |  |  |     steps: | 
			
		
	
		
		
			
				
					
					|  |  |  |     - uses: actions/checkout@v3 |  |  |  |     - uses: actions/checkout@v3 | 
			
		
	
		
		
			
				
					
					|  |  |  |       with: |  |  |  |       with: | 
			
		
	
	
		
		
			
				
					|  |  | @ -198,7 +189,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |   unit_tests: |  |  |  |   unit_tests: | 
			
		
	
		
		
			
				
					
					|  |  |  |     name: unit tests |  |  |  |     name: unit tests | 
			
		
	
		
		
			
				
					
					|  |  |  |     runs-on: ubuntu-20.04 |  |  |  |     runs-on: ubuntu-20.04 | 
			
		
	
		
		
			
				
					
					|  |  |  |     timeout-minutes: 30 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     steps: |  |  |  |     steps: | 
			
		
	
		
		
			
				
					
					|  |  |  |     - uses: actions/checkout@v3 |  |  |  |     - uses: actions/checkout@v3 | 
			
		
	
		
		
			
				
					
					|  |  |  |       with: |  |  |  |       with: | 
			
		
	
	
		
		
			
				
					|  |  | @ -207,7 +197,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: Build openpilot |  |  |  |     - name: Build openpilot | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: ${{ env.RUN }} "scons -j$(nproc)" |  |  |  |       run: ${{ env.RUN }} "scons -j$(nproc)" | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: Run unit tests |  |  |  |     - name: Run unit tests | 
			
		
	
		
		
			
				
					
					|  |  |  |       timeout-minutes: 15 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: | |  |  |  |       run: | | 
			
		
	
		
		
			
				
					
					|  |  |  |         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ |  |  |  |         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ | 
			
		
	
		
		
			
				
					
					|  |  |  |                         $UNIT_TEST common && \ |  |  |  |                         $UNIT_TEST common && \ | 
			
		
	
	
		
		
			
				
					|  |  | @ -242,7 +231,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |   process_replay: |  |  |  |   process_replay: | 
			
		
	
		
		
			
				
					
					|  |  |  |     name: process replay |  |  |  |     name: process replay | 
			
		
	
		
		
			
				
					
					|  |  |  |     runs-on: ubuntu-20.04 |  |  |  |     runs-on: ubuntu-20.04 | 
			
		
	
		
		
			
				
					
					|  |  |  |     timeout-minutes: 25 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     steps: |  |  |  |     steps: | 
			
		
	
		
		
			
				
					
					|  |  |  |     - uses: actions/checkout@v3 |  |  |  |     - uses: actions/checkout@v3 | 
			
		
	
		
		
			
				
					
					|  |  |  |       with: |  |  |  |       with: | 
			
		
	
	
		
		
			
				
					|  |  | @ -280,7 +268,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |   test_modeld: |  |  |  |   test_modeld: | 
			
		
	
		
		
			
				
					
					|  |  |  |     name: model tests |  |  |  |     name: model tests | 
			
		
	
		
		
			
				
					
					|  |  |  |     runs-on: ubuntu-20.04 |  |  |  |     runs-on: ubuntu-20.04 | 
			
		
	
		
		
			
				
					
					|  |  |  |     timeout-minutes: 20 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     steps: |  |  |  |     steps: | 
			
		
	
		
		
			
				
					
					|  |  |  |     - uses: actions/checkout@v3 |  |  |  |     - uses: actions/checkout@v3 | 
			
		
	
		
		
			
				
					
					|  |  |  |       with: |  |  |  |       with: | 
			
		
	
	
		
		
			
				
					|  |  | @ -293,12 +280,10 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: | |  |  |  |       run: | | 
			
		
	
		
		
			
				
					
					|  |  |  |         ${{ env.RUN }} "scons -j$(nproc)" |  |  |  |         ${{ env.RUN }} "scons -j$(nproc)" | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: Run model replay with ONNX |  |  |  |     - name: Run model replay with ONNX | 
			
		
	
		
		
			
				
					
					|  |  |  |       timeout-minutes: 2 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: | |  |  |  |       run: | | 
			
		
	
		
		
			
				
					
					|  |  |  |         ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ |  |  |  |         ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ | 
			
		
	
		
		
			
				
					
					|  |  |  |                            coverage xml" |  |  |  |                            coverage xml" | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: Run unit tests |  |  |  |     - name: Run unit tests | 
			
		
	
		
		
			
				
					
					|  |  |  |       timeout-minutes: 5 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: | |  |  |  |       run: | | 
			
		
	
		
		
			
				
					
					|  |  |  |         ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \ |  |  |  |         ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \ | 
			
		
	
		
		
			
				
					
					|  |  |  |                            coverage xml" |  |  |  |                            coverage xml" | 
			
		
	
	
		
		
			
				
					|  |  | @ -308,7 +293,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |   test_longitudinal: |  |  |  |   test_longitudinal: | 
			
		
	
		
		
			
				
					
					|  |  |  |     name: longitudinal |  |  |  |     name: longitudinal | 
			
		
	
		
		
			
				
					
					|  |  |  |     runs-on: ubuntu-20.04 |  |  |  |     runs-on: ubuntu-20.04 | 
			
		
	
		
		
			
				
					
					|  |  |  |     timeout-minutes: 20 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     steps: |  |  |  |     steps: | 
			
		
	
		
		
			
				
					
					|  |  |  |     - uses: actions/checkout@v3 |  |  |  |     - uses: actions/checkout@v3 | 
			
		
	
		
		
			
				
					
					|  |  |  |       with: |  |  |  |       with: | 
			
		
	
	
		
		
			
				
					|  |  | @ -323,7 +307,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |                         cd selfdrive/test/longitudinal_maneuvers && \ |  |  |  |                         cd selfdrive/test/longitudinal_maneuvers && \ | 
			
		
	
		
		
			
				
					
					|  |  |  |                         coverage run ./test_longitudinal.py && \ |  |  |  |                         coverage run ./test_longitudinal.py && \ | 
			
		
	
		
		
			
				
					
					|  |  |  |                         coverage xml" |  |  |  |                         coverage xml" | 
			
		
	
		
		
			
				
					
					|  |  |  |       timeout-minutes: 2 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: "Upload coverage to Codecov" |  |  |  |     - name: "Upload coverage to Codecov" | 
			
		
	
		
		
			
				
					
					|  |  |  |       uses: codecov/codecov-action@v2 |  |  |  |       uses: codecov/codecov-action@v2 | 
			
		
	
		
		
			
				
					
					|  |  |  |     - uses: actions/upload-artifact@v2 |  |  |  |     - uses: actions/upload-artifact@v2 | 
			
		
	
	
		
		
			
				
					|  |  | @ -336,7 +319,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |   test_cars: |  |  |  |   test_cars: | 
			
		
	
		
		
			
				
					
					|  |  |  |     name: cars |  |  |  |     name: cars | 
			
		
	
		
		
			
				
					
					|  |  |  |     runs-on: ubuntu-20.04 |  |  |  |     runs-on: ubuntu-20.04 | 
			
		
	
		
		
			
				
					
					|  |  |  |     timeout-minutes: 20 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     strategy: |  |  |  |     strategy: | 
			
		
	
		
		
			
				
					
					|  |  |  |       fail-fast: false |  |  |  |       fail-fast: false | 
			
		
	
		
		
			
				
					
					|  |  |  |       matrix: |  |  |  |       matrix: | 
			
		
	
	
		
		
			
				
					|  |  | @ -355,7 +337,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: Build openpilot |  |  |  |     - name: Build openpilot | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: ${{ env.RUN }} "scons -j$(nproc)" |  |  |  |       run: ${{ env.RUN }} "scons -j$(nproc)" | 
			
		
	
		
		
			
				
					
					|  |  |  |     - name: Test car models |  |  |  |     - name: Test car models | 
			
		
	
		
		
			
				
					
					|  |  |  |       timeout-minutes: 12 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |       run: | |  |  |  |       run: | | 
			
		
	
		
		
			
				
					
					|  |  |  |         ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \ |  |  |  |         ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \ | 
			
		
	
		
		
			
				
					
					|  |  |  |                         coverage xml && \ |  |  |  |                         coverage xml && \ | 
			
		
	
	
		
		
			
				
					|  |  | @ -369,7 +350,6 @@ jobs: | 
			
		
	
		
		
			
				
					
					|  |  |  |   car_docs_diff: |  |  |  |   car_docs_diff: | 
			
		
	
		
		
			
				
					
					|  |  |  |     name: PR comments |  |  |  |     name: PR comments | 
			
		
	
		
		
			
				
					
					|  |  |  |     runs-on: ubuntu-20.04 |  |  |  |     runs-on: ubuntu-20.04 | 
			
		
	
		
		
			
				
					
					|  |  |  |     timeout-minutes: 20 |  |  |  |  | 
			
		
	
		
		
			
				
					
					|  |  |  |     if: github.event_name == 'pull_request' |  |  |  |     if: github.event_name == 'pull_request' | 
			
		
	
		
		
			
				
					
					|  |  |  |     steps: |  |  |  |     steps: | 
			
		
	
		
		
			
				
					
					|  |  |  |       - uses: actions/checkout@v3 |  |  |  |       - uses: actions/checkout@v3 | 
			
		
	
	
		
		
			
				
					|  |  | 
 |