Shane Smiskol
11 months ago
commit
63fb36a2cc
18 changed files with 561 additions and 79 deletions
@ -0,0 +1,45 @@ |
||||
name: jenkins scan |
||||
|
||||
on: |
||||
issue_comment: |
||||
types: [created, edited] |
||||
|
||||
jobs: |
||||
# TODO: gc old branches in a separate job in this workflow |
||||
scan-comments: |
||||
runs-on: ubuntu-latest |
||||
if: ${{ github.event.issue.pull_request }} |
||||
steps: |
||||
- name: Check for trigger phrase |
||||
id: check_comment |
||||
uses: actions/github-script@v7 |
||||
with: |
||||
script: | |
||||
const triggerPhrase = "trigger-jenkins"; |
||||
const comment = context.payload.comment.body; |
||||
const commenter = context.payload.comment.user.login; |
||||
|
||||
const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({ |
||||
owner: context.repo.owner, |
||||
repo: context.repo.repo, |
||||
username: commenter |
||||
}); |
||||
|
||||
const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin'; |
||||
|
||||
return (hasWriteAccess && comment.includes(triggerPhrase)); |
||||
result-encoding: json |
||||
|
||||
- name: Checkout repository |
||||
if: steps.check_comment.outputs.result == 'true' |
||||
uses: actions/checkout@v4 |
||||
with: |
||||
ref: refs/pull/${{ github.event.issue.number }}/head |
||||
|
||||
- name: Push to tmp-jenkins branch |
||||
if: steps.check_comment.outputs.result == 'true' |
||||
run: | |
||||
git config --global user.name "github-actions[bot]" |
||||
git config --global user.email "github-actions[bot]@users.noreply.github.com" |
||||
git checkout -b tmp-jenkins-${{ github.event.issue.number }} |
||||
GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }} |
||||
@ -0,0 +1,91 @@ |
||||
name: "ui preview" |
||||
on: |
||||
pull_request_target: |
||||
types: [assigned, opened, synchronize, reopened, edited] |
||||
branches: |
||||
- 'master' |
||||
paths: |
||||
- 'selfdrive/ui/**' |
||||
|
||||
env: |
||||
UI_JOB_NAME: "Create UI Report" |
||||
|
||||
jobs: |
||||
preview: |
||||
if: github.repository == 'commaai/openpilot' |
||||
name: preview |
||||
runs-on: ubuntu-latest |
||||
timeout-minutes: 5 |
||||
permissions: |
||||
contents: read |
||||
pull-requests: write |
||||
actions: read |
||||
steps: |
||||
- name: Waiting for ui test to start |
||||
run: sleep 30 |
||||
|
||||
- name: Wait for ui report |
||||
uses: lewagon/wait-on-check-action@v1.3.4 |
||||
with: |
||||
ref: ${{ github.event.pull_request.head.sha }} |
||||
check-name: ${{ env.UI_JOB_NAME }} |
||||
repo-token: ${{ secrets.GITHUB_TOKEN }} |
||||
allowed-conclusions: success |
||||
wait-interval: 20 |
||||
|
||||
- name: Get workflow run ID |
||||
id: get_run_id |
||||
run: | |
||||
echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT |
||||
|
||||
- name: Checkout ci-artifacts |
||||
uses: actions/checkout@v4 |
||||
with: |
||||
repository: commaai/ci-artifacts |
||||
ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} |
||||
path: ${{ github.workspace }}/ci-artifacts |
||||
ref: master |
||||
|
||||
- name: Download artifact |
||||
id: download-artifact |
||||
uses: dawidd6/action-download-artifact@v6 |
||||
with: |
||||
github_token: ${{ secrets.GITHUB_TOKEN }} |
||||
run_id: ${{ steps.get_run_id.outputs.run_id }} |
||||
search_artifacts: true |
||||
name: report-${{ github.event.number }} |
||||
path: ${{ github.workspace }}/ci-artifacts |
||||
|
||||
- name: Push Screenshots |
||||
working-directory: ${{ github.workspace }}/ci-artifacts |
||||
run: | |
||||
git checkout -b openpilot/pr-${{ github.event.number }} |
||||
git config user.name "GitHub Actions Bot" |
||||
git config user.email "<>" |
||||
git add ${{ github.workspace }}/ci-artifacts/* |
||||
git commit -m "screenshots for PR #${{ github.event.number }}" |
||||
git push origin openpilot/pr-${{ github.event.number }} --force |
||||
|
||||
- name: Comment Screenshots on PR |
||||
uses: thollander/actions-comment-pull-request@v2 |
||||
with: |
||||
message: | |
||||
<!-- _(run_id_screenshots **${{ github.run_id }}**)_ --> |
||||
## UI Screenshots |
||||
<table> |
||||
<tr> |
||||
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td> |
||||
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td> |
||||
</tr> |
||||
<tr> |
||||
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_map.png"></td> |
||||
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td> |
||||
</tr> |
||||
<tr> |
||||
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td> |
||||
<td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td> |
||||
</tr> |
||||
</table> |
||||
comment_tag: run_id_screenshots |
||||
pr_number: ${{ github.event.number }} |
||||
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} |
||||
@ -0,0 +1,56 @@ |
||||
from cereal import car |
||||
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans |
||||
|
||||
|
||||
|
||||
|
||||
class TestLongControlStateTransition: |
||||
|
||||
def test_stay_stopped(self): |
||||
CP = car.CarParams.new_message() |
||||
active = True |
||||
current_state = LongCtrlState.stopping |
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
||||
should_stop=True, brake_pressed=False, cruise_standstill=False) |
||||
assert next_state == LongCtrlState.stopping |
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
||||
should_stop=False, brake_pressed=True, cruise_standstill=False) |
||||
assert next_state == LongCtrlState.stopping |
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
||||
should_stop=False, brake_pressed=False, cruise_standstill=True) |
||||
assert next_state == LongCtrlState.stopping |
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0, |
||||
should_stop=False, brake_pressed=False, cruise_standstill=False) |
||||
assert next_state == LongCtrlState.pid |
||||
active = False |
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0, |
||||
should_stop=False, brake_pressed=False, cruise_standstill=False) |
||||
assert next_state == LongCtrlState.off |
||||
|
||||
def test_engage(): |
||||
CP = car.CarParams.new_message() |
||||
active = True |
||||
current_state = LongCtrlState.off |
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
||||
should_stop=True, brake_pressed=False, cruise_standstill=False) |
||||
assert next_state == LongCtrlState.stopping |
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
||||
should_stop=False, brake_pressed=True, cruise_standstill=False) |
||||
assert next_state == LongCtrlState.stopping |
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
||||
should_stop=False, brake_pressed=False, cruise_standstill=True) |
||||
assert next_state == LongCtrlState.stopping |
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
||||
should_stop=False, brake_pressed=False, cruise_standstill=False) |
||||
assert next_state == LongCtrlState.pid |
||||
|
||||
def test_starting(): |
||||
CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5) |
||||
active = True |
||||
current_state = LongCtrlState.starting |
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, |
||||
should_stop=False, brake_pressed=False, cruise_standstill=False) |
||||
assert next_state == LongCtrlState.starting |
||||
next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0, |
||||
should_stop=False, brake_pressed=False, cruise_standstill=False) |
||||
assert next_state == LongCtrlState.pid |
||||
@ -0,0 +1,313 @@ |
||||
#!/bin/bash |
||||
|
||||
RED='\033[0;31m' |
||||
GREEN='\033[0;32m' |
||||
UNDERLINE='\033[4m' |
||||
BOLD='\033[1m' |
||||
NC='\033[0m' |
||||
|
||||
function op_first_install() { |
||||
(set -e |
||||
|
||||
echo "Installing op system-wide..." |
||||
RC_FILE="${HOME}/.$(basename ${SHELL})rc" |
||||
if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then |
||||
RC_FILE="$HOME/.bash_profile" |
||||
fi |
||||
op_run_command printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE |
||||
echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n" |
||||
|
||||
) |
||||
} |
||||
|
||||
# be default, assume openpilot dir is in current directory |
||||
OPENPILOT_ROOT=$(pwd) |
||||
function op_check_openpilot_dir() { |
||||
while [[ "$OPENPILOT_ROOT" != '/' ]]; |
||||
do |
||||
if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then |
||||
return 0 |
||||
fi |
||||
OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)" |
||||
done |
||||
|
||||
echo "openpilot directory not found! Make sure that you are inside openpilot" |
||||
echo "directory or specify one with the --dir option!" |
||||
return 1 |
||||
} |
||||
|
||||
function op_run_command() { |
||||
CMD="$@" |
||||
echo -e "${BOLD}Running:${NC} $CMD" |
||||
if [[ -z "$DRY" ]]; then |
||||
$CMD |
||||
fi |
||||
} |
||||
|
||||
function op_check_git() { |
||||
(set -e |
||||
|
||||
cd $OPENPILOT_ROOT |
||||
|
||||
echo "Checking for git..." |
||||
if ! command -v "git" > /dev/null 2>&1; then |
||||
echo -e " ↳ [${RED}✗${NC}] git not found on your system!" |
||||
return 1 |
||||
else |
||||
echo -e " ↳ [${GREEN}✔${NC}] git found on your system.\n" |
||||
fi |
||||
|
||||
echo "Checking for git lfs files..." |
||||
if [[ $(file -b $(git lfs ls-files -n | grep "\.so" | head -n 1)) == "ASCII text" ]]; then |
||||
echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run git lfs pull" |
||||
return 1 |
||||
else |
||||
echo -e " ↳ [${GREEN}✔${NC}] git lfs files found on your system.\n" |
||||
fi |
||||
|
||||
echo "Checking for git submodules..." |
||||
if $(git submodule foreach --quiet --recursive 'return 1' 2&> /dev/null); then |
||||
echo -e " ↳ [${RED}✗${NC}] git submodules not found! Run 'git submodule update --init --recursive'" |
||||
return 1 |
||||
else |
||||
echo -e " ↳ [${GREEN}✔${NC}] git submodules found on your system.\n" |
||||
fi |
||||
|
||||
) |
||||
} |
||||
|
||||
function op_check_os() { |
||||
(set -e |
||||
|
||||
echo "Checking for compatible os version..." |
||||
if [[ "$OSTYPE" == "linux-gnu"* ]]; then |
||||
|
||||
if [ -f "/etc/os-release" ]; then |
||||
source /etc/os-release |
||||
case "$VERSION_CODENAME" in |
||||
"jammy" | "kinetic" | "noble" | "focal") |
||||
echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n" |
||||
;; |
||||
* ) |
||||
echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!" |
||||
return 1 |
||||
;; |
||||
esac |
||||
else |
||||
echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!" |
||||
return 1 |
||||
fi |
||||
|
||||
elif [[ "$OSTYPE" == "darwin"* ]]; then |
||||
echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n" |
||||
else |
||||
echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!" |
||||
return 1 |
||||
fi |
||||
|
||||
) |
||||
} |
||||
|
||||
function op_check_python() { |
||||
(set -e |
||||
|
||||
echo "Checking for compatible python version..." |
||||
export REQUIRED_PYTHON_VERSION=$(grep "requires-python" pyproject.toml | cut -d= -f3- | tr -d '"' | tr -d ' ') |
||||
if ! command -v "python3" > /dev/null 2>&1; then |
||||
echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $REQUIRED_PYTHON_VERSION to continue!" |
||||
return 1 |
||||
else |
||||
if $(python3 -c "import sys; quit(not sys.version_info >= tuple(map(int, \"$REQUIRED_PYTHON_VERSION\".split('.'))))"); then |
||||
echo -e " ↳ [${GREEN}✔${NC}] $(python3 --version) detected.\n" |
||||
else |
||||
echo -e " ↳ [${RED}✗${NC}] You need python version at least $REQUIRED_PYTHON_VERSION to continue!" |
||||
return 1 |
||||
fi |
||||
fi |
||||
|
||||
) |
||||
} |
||||
|
||||
# this must be run in the same shell as the user calling "op" |
||||
function op_venv() { |
||||
op_check_openpilot_dir || return 1 |
||||
op_run_command source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1) |
||||
} |
||||
|
||||
function op_check() { |
||||
(set -e |
||||
|
||||
op_check_openpilot_dir |
||||
cd $OPENPILOT_ROOT |
||||
op_check_git |
||||
op_check_os |
||||
op_check_python |
||||
|
||||
) |
||||
} |
||||
|
||||
function op_run() { |
||||
(set -e |
||||
|
||||
op_venv |
||||
cd $OPENPILOT_ROOT |
||||
|
||||
op_run_command $OPENPILOT_ROOT/launch_openpilot.sh |
||||
|
||||
) |
||||
} |
||||
|
||||
function op_install() { |
||||
(set -e |
||||
|
||||
op_check_openpilot_dir |
||||
cd $OPENPILOT_ROOT |
||||
|
||||
op_check_os |
||||
op_check_python |
||||
|
||||
if [[ "$OSTYPE" == "linux-gnu"* ]]; then |
||||
$OPENPILOT_ROOT/tools/ubuntu_setup.sh |
||||
elif [[ "$OSTYPE" == "darwin"* ]]; then |
||||
$OPENPILOT_ROOT/tools/mac_setup.sh |
||||
fi |
||||
|
||||
git submodule update --init --recursive |
||||
git lfs pull |
||||
|
||||
) |
||||
} |
||||
|
||||
function op_build() { |
||||
(set -e |
||||
|
||||
op_venv |
||||
cd $OPENPILOT_ROOT |
||||
|
||||
op_run_command scons $@ |
||||
|
||||
) |
||||
} |
||||
|
||||
function op_juggle() { |
||||
(set -e |
||||
|
||||
op_venv |
||||
cd $OPENPILOT_ROOT |
||||
|
||||
op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@ |
||||
|
||||
) |
||||
} |
||||
|
||||
function op_linter() { |
||||
(set -e |
||||
|
||||
op_venv |
||||
cd $OPENPILOT_ROOT |
||||
|
||||
op_run_command pre-commit run --all $@ |
||||
|
||||
) |
||||
} |
||||
|
||||
function op_replay() { |
||||
(set -e |
||||
op_check_openpilot_dir |
||||
cd $OPENPILOT_ROOT |
||||
|
||||
op_run_command $OPENPILOT_ROOT/tools/replay/replay $@ |
||||
|
||||
) |
||||
} |
||||
|
||||
function op_default() { |
||||
echo "An openpilot helper" |
||||
echo "" |
||||
echo -e "${BOLD}${UNDERLINE}Description:${NC}" |
||||
echo " op is your entry point for all things related to openpilot development." |
||||
echo " op is only a wrapper for scripts, tools and commands already existing." |
||||
echo " op will always show you what it will run on your system." |
||||
echo "" |
||||
echo " op will try to find your openpilot directory in the following order:" |
||||
echo " 1: use the directory specified with the --dir option" |
||||
echo " 2: use the current working directory" |
||||
echo " 3: go up the file tree non-recursively" |
||||
echo "" |
||||
echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>" |
||||
echo "" |
||||
echo -e "${BOLD}${UNDERLINE}Commands:${NC}" |
||||
echo -e " ${BOLD}venv${NC} Activate the virtual environment" |
||||
echo -e " ${BOLD}check${NC} Check system requirements (git, os, python) to start using openpilot" |
||||
echo -e " ${BOLD}install${NC} Install requirements to use openpilot" |
||||
echo -e " ${BOLD}build${NC} Build openpilot" |
||||
echo -e " ${BOLD}run${NC} Run openpilot" |
||||
echo -e " ${BOLD}juggle${NC} Run Plotjuggler" |
||||
echo -e " ${BOLD}replay${NC} Run replay" |
||||
echo -e " ${BOLD}linter${NC} Run all the pre-commit checks" |
||||
echo -e " ${BOLD}help${NC} Show this message" |
||||
echo -e " ${BOLD}--install${NC} Install this tool system wide" |
||||
echo "" |
||||
echo -e "${BOLD}${UNDERLINE}Options:${NC}" |
||||
echo -e " ${BOLD}-d, --dir${NC}" |
||||
echo " Specify the openpilot directory you want to use" |
||||
echo -e " ${BOLD}--dry${NC}" |
||||
echo " Don't actually run anything, just print what would be" |
||||
echo "" |
||||
echo -e "${BOLD}${UNDERLINE}Examples:${NC}" |
||||
echo " op --dir /tmp/openpilot check" |
||||
echo " Run the check command on openpilot located in /tmp/openpilot" |
||||
echo "" |
||||
echo " op juggle --install" |
||||
echo " Install plotjuggler in the openpilot located in your current" |
||||
echo " working directory" |
||||
echo "" |
||||
echo " op --dir /tmp/openpilot build -j4" |
||||
echo " Run the build command on openpilot located in /tmp/openpilot" |
||||
echo " on 4 cores" |
||||
} |
||||
|
||||
|
||||
function _op() { |
||||
# parse Options |
||||
case $1 in |
||||
-d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;; |
||||
--dry ) shift 1; DRY="1" ;; |
||||
esac |
||||
|
||||
# parse Commands |
||||
case $1 in |
||||
venv ) shift 1; op_venv "$@" ;; |
||||
check ) shift 1; op_check "$@" ;; |
||||
install ) shift 1; op_install "$@" ;; |
||||
build ) shift 1; op_build "$@" ;; |
||||
run ) shift 1; op_run "$@" ;; |
||||
juggle ) shift 1; op_juggle "$@" ;; |
||||
linter ) shift 1; op_linter "$@" ;; |
||||
replay ) shift 1; op_replay "$@" ;; |
||||
--install ) shift 1; op_first_install "$@" ;; |
||||
* ) op_default "$@" ;; |
||||
esac |
||||
} |
||||
|
||||
_op $@ |
||||
|
||||
# remove from env |
||||
unset -f _op |
||||
unset -f op_check |
||||
unset -f op_install |
||||
unset -f op_build |
||||
unset -f op_run |
||||
unset -f op_juggle |
||||
unset -f op_venv |
||||
unset -f op_check_openpilot_dir |
||||
unset -f op_check_git |
||||
unset -f op_check_python |
||||
unset -f op_check_os |
||||
unset -f op_first_install |
||||
unset -f op_default |
||||
unset -f op_run_command |
||||
unset -f op_linter |
||||
unset -f op_replay |
||||
unset DRY |
||||
unset OPENPILOT_ROOT |
||||
Loading…
Reference in new issue