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CI: move test_maprenderer to GH actions (#30610)

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maprenderer to ci
pull/30737/head
Justin Newberry 1 year ago committed by GitHub
parent 582743fdb5
commit 5d668701cb
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GPG Key ID: 4AEE18F83AFDEB23
8 changed files with 43 additions and 21 deletions
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  1. 2
      .github/workflows/badges.yaml
  2. 2
      .github/workflows/docs.yaml
  3. 8
      .github/workflows/selfdrive_tests.yaml
  4. 4
      .github/workflows/tools_tests.yaml
  5. 1
      Jenkinsfile
  6. 1
      pyproject.toml
  7. 31
      selfdrive/navd/tests/test_map_renderer.py
  8. 15
      selfdrive/test/setup_xvfb.sh

2
.github/workflows/badges.yaml
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@ -7,7 +7,7 @@ on:
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/sh -c
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:

2
.github/workflows/docs.yaml
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@ -15,7 +15,7 @@ env:
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/sh -c
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:

8
.github/workflows/selfdrive_tests.yaml
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@ -20,11 +20,11 @@ env:
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 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/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/sh -c
RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -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/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
BUILD_CL: selfdrive/test/docker_build.sh cl
RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -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 $CL_BASE_IMAGE /bin/sh -c
RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -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 $CL_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
@ -175,7 +175,9 @@ jobs:
- name: Run unit tests
timeout-minutes: 15
run: |
${{ env.RUN }} "$PYTEST --timeout 30 -m 'not slow' && \
${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
$PYTEST --timeout 30 -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 && \

4
.github/workflows/tools_tests.yaml
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@ -17,11 +17,11 @@ env:
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/sh -c
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
BUILD_CL: selfdrive/test/docker_build.sh cl
RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/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 $CL_BASE_IMAGE /bin/sh -c
RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/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 $CL_BASE_IMAGE /bin/bash -c
jobs:

1
Jenkinsfile vendored
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@ -187,7 +187,6 @@ node {
["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/"],
])
},
'loopback': {

1
pyproject.toml
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@ -17,6 +17,7 @@ testpaths = [
"selfdrive/controls",
"selfdrive/locationd",
"selfdrive/monitoring",
"selfdrive/navd/tests",
"selfdrive/thermald",
"selfdrive/test/longitudinal_maneuvers",
"system/hardware/tici",

31
selfdrive/navd/tests/test_map_renderer.py
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@ -1,4 +1,5 @@
#!/usr/bin/env python3
import time
import numpy as np
import os
import pytest
@ -10,7 +11,7 @@ import cereal.messaging as messaging
from typing import Any
from cereal.visionipc import VisionIpcClient, VisionStreamType
from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.selfdrive.test.helpers import with_processes
LLK_DECIMATION = 10
CACHE_PATH = "/data/mbgl-cache-navd.db"
@ -18,7 +19,8 @@ CACHE_PATH = "/data/mbgl-cache-navd.db"
LOCATION1 = (32.7174, -117.16277)
LOCATION2 = (32.7558, -117.2037)
DEFAULT_ITERATIONS = 30 * LLK_DECIMATION
RENDER_FRAMES = 15
DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS
LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS
@ -60,7 +62,8 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
class MapBoxInternetDisabledServer(threading.Thread):
def run(self):
self.server = http.server.HTTPServer(("127.0.0.1", 5000), MapBoxInternetDisabledRequestHandler)
self.server = http.server.HTTPServer(("127.0.0.1", 0), MapBoxInternetDisabledRequestHandler)
self.port = self.server.server_port
self.server.serve_forever()
def stop(self):
@ -74,13 +77,15 @@ class MapBoxInternetDisabledServer(threading.Thread):
class TestMapRenderer(unittest.TestCase):
server = MapBoxInternetDisabledServer()
server: MapBoxInternetDisabledServer
@classmethod
def setUpClass(cls):
assert "MAPBOX_TOKEN" in os.environ
cls.original_token = os.environ["MAPBOX_TOKEN"]
cls.server = MapBoxInternetDisabledServer()
cls.server.start()
time.sleep(0.5) # wait for server to startup
@classmethod
def tearDownClass(cls) -> None:
@ -88,7 +93,7 @@ class TestMapRenderer(unittest.TestCase):
def setUp(self):
self.server.enable_internet()
os.environ['MAPS_HOST'] = 'http://localhost:5000'
os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}'
self.sm = messaging.SubMaster(['mapRenderState'])
self.pm = messaging.PubMaster(['liveLocationKalman'])
@ -97,15 +102,11 @@ class TestMapRenderer(unittest.TestCase):
if os.path.exists(CACHE_PATH):
os.remove(CACHE_PATH)
def tearDown(self):
managed_processes['mapsd'].stop()
def _setup_test(self):
# start + sync up
managed_processes['mapsd'].start()
assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
time.sleep(0.5)
assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
assert self.vipc.connect(False)
self.vipc.recv()
@ -164,17 +165,22 @@ class TestMapRenderer(unittest.TestCase):
assert self.vipc.timestamp_sof == llk.logMonoTime
assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
assert frames_since_test_start >= RENDER_FRAMES
return render_times
@with_processes(["mapsd"])
def test_with_internet(self):
self._setup_test()
self._run_test(True)
@with_processes(["mapsd"])
def test_with_no_internet(self):
self.server.disable_internet()
self._setup_test()
self._run_test(False)
@with_processes(["mapsd"])
def test_recover_from_no_internet(self):
self._setup_test()
self._run_test(True)
@ -187,8 +193,7 @@ class TestMapRenderer(unittest.TestCase):
self.server.enable_internet()
self._run_test(True, LOCATION2_REPEATED)
self._run_test(True, LOCATION2_REPEATED)
@with_processes(["mapsd"])
@pytest.mark.tici
def test_render_time_distribution(self):
self._setup_test()

15
selfdrive/test/setup_xvfb.sh
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@ -0,0 +1,15 @@
#!/bin/bash
# Sets up a virtual display for running map renderer and simulator without an X11 display
DISP_ID=99
export DISPLAY=:$DISP_ID
sudo Xvfb $DISPLAY -screen 0 2160x1080x24 &
# check for x11 socket for the specified display ID
while [ ! -S /tmp/.X11-unix/X$DISP_ID ]
do
echo "Waiting for Xvfb..."
sleep 1
done
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