def phone(String ip, String step_label, String cmd) {
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
def ssh_cmd = """
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
set -e
export CI=1
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}'
export GIT_SSH_COMMAND="ssh -i /data/gitkey"
source ~/.bash_profile
if [ -f /TICI ]; then
source /etc/profile
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 phone_steps(String device_type, steps) {
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
timeout(time: 20, unit: 'MINUTES') {
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
steps.each { item ->
phone(device_ip, item[0], item[1])
}
}
}
}
pipeline {
agent none
environment {
CI = "1"
TEST_DIR = "/data/openpilot"
SOURCE_DIR = "/data/openpilot_source/"
AZURE_TOKEN = credentials('azure_token')
MAPBOX_TOKEN = credentials('mapbox_token')
}
options {
timeout(time: 3, unit: 'HOURS')
disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
}
stages {
stage('build release3-staging') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
when {
branch 'devel-staging'
}
steps {
phone_steps("tici-needs-can", [
["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
])
}
}
stage('build nightly') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
when {
branch 'master-ci'
}
steps {
phone_steps("tici-needs-can", [
["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
])
}
}
stage('openpilot tests') {
when {
not {
anyOf {
branch 'master-ci'; branch 'devel'; branch 'devel-staging';
branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
branch 'testing-closet*'; branch 'hotfix-*'
}
}
}
parallel {
/*
stage('simulator') {
agent {
dockerfile {
filename 'Dockerfile.sim_nvidia'
dir 'tools/sim'
args '--user=root'
}
}
steps {
sh "git config --global --add safe.directory '*'"
sh "git submodule update --init --recursive"
sh "git lfs pull"
lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
sh "${WORKSPACE}/tools/sim/build_container.sh"
sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
}
}
post {
always {
sh "docker kill carla_sim || true"
sh "rm -rf ${WORKSPACE}/* || true"
sh "rm -rf .* || true"
}
}
}
*/
stage('large test models') {
matrix {
agent { dockerfile { filename 'Dockerfile.openpilot_base'; args '--user=root' } }
axes {
name 'JOB_ID'
values 0 1 2 3 4
}
steps {
sh "git config --global --add safe.directory '*'"
sh "git submodule update --init --depth=1 --recursive"
sh "scons -j42"
sh "cd selfdrive/car/tests && PYTHONPATH='${WORKSPACE}' JOB_ID=${JOB_ID} NUM_JOBS=5 INTERNAL_SEG_LIST='selfdrive/car/tests/test_models_segs.txt' ./test_models.py"
}
}
post {
always {
sh "rm -rf ${WORKSPACE}/* || true"
sh "rm -rf .* || true"
}
}
}
// stage('scons build test') {
// agent {
// dockerfile {
// filename 'Dockerfile.openpilot_base'
// args '--user=root'
// }
// }
// steps {
// sh "git config --global --add safe.directory '*'"
// sh "git submodule update --init --depth=1 --recursive"
// sh "scons --clean && scons --no-cache -j42"
// sh "scons --clean && scons --no-cache --random -j42"
// }
//
// post {
// always {
// sh "rm -rf ${WORKSPACE}/* || true"
// sh "rm -rf .* || true"
// }
// }
// }
//
// stage('tizi-tests') {
// agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
// steps {
// phone_steps("tizi", [
// ["build openpilot", "cd selfdrive/manager && ./build.py"],
// ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
// ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
// ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
// ["test camerad", "pytest system/camerad/test/test_camerad.py"],
// ["test exposure", "pytest system/camerad/test/test_exposure.py"],
// ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
// ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
// ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
// ])
// }
// }
//
// stage('build') {
// agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
// environment {
// R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
// }
// steps {
// phone_steps("tici-needs-can", [
// ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
// ["build openpilot", "cd selfdrive/manager && ./build.py"],
// ["check dirty", "release/check-dirty.sh"],
// ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
// ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
// ])
// }
// }
//
// stage('loopback-tests') {
// agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
// steps {
// phone_steps("tici-loopback", [
// ["build openpilot", "cd selfdrive/manager && ./build.py"],
// ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
// ])
// }
// }
//
// stage('HW + Unit Tests') {
// agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
// steps {
// phone_steps("tici-common", [
// ["build", "cd selfdrive/manager && ./build.py"],
// ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
// ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
// ["test loggerd", "pytest system/loggerd/tests/test_loggerd.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"],
// ["test nav", "pytest selfdrive/navd/tests/"],
// ])
// }
// }
//
// stage('camerad') {
// agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
// steps {
// phone_steps("tici-ar0231", [
// ["build", "cd selfdrive/manager && ./build.py"],
// ["test camerad", "pytest system/camerad/test/test_camerad.py"],
// ["test exposure", "pytest system/camerad/test/test_exposure.py"],
// ])
// phone_steps("tici-ox03c10", [
// ["build", "cd selfdrive/manager && ./build.py"],
// ["test camerad", "pytest system/camerad/test/test_camerad.py"],
// ["test exposure", "pytest system/camerad/test/test_exposure.py"],
// ])
// }
// }
//
// stage('sensord') {
// agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
// steps {
// phone_steps("tici-lsmc", [
// ["build", "cd selfdrive/manager && ./build.py"],
// ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
// ])
// phone_steps("tici-bmx-lsm", [
// ["build", "cd selfdrive/manager && ./build.py"],
// ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
// ])
// }
// }
//
// stage('replay') {
// agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
// steps {
// phone_steps("tici-replay", [
// ["build", "cd selfdrive/manager && ./build.py"],
// ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
// ])
// }
// }
}
}
}
}