Docker: merge opencl and base images (#31338)

* mergeem

* don't change workdir

.github/workflows/selfdrive_tests.yaml

@@ -14,7 +14,6 @@ concurrency:
 env:
   PYTHONWARNINGS: error
   BASE_IMAGE: openpilot-base
-  CL_BASE_IMAGE: openpilot-base-cl
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -22,10 +21,6 @@ env:
 
   RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -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/pre-commit:/tmp/pre-commit -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 CI=1 -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 -n logical
 
 jobs:
@@ -106,11 +101,6 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
       with:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-    - name: Build and push CL Docker image
-      if: matrix.arch == 'x86_64'
-      run: |
-        unset TARGET_ARCHITECTURE
-        eval "$BUILD_CL"
 
   docker_push_multiarch:
     name: docker push multiarch tag
@@ -258,15 +248,13 @@ jobs:
         key: regen-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/test_regen.py') }}
     - name: Build base Docker image
       run: eval "$BUILD"
-    - name: Build Docker image
-      run: eval "$BUILD_CL"
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run regen
       timeout-minutes: 30
       run: |
-        ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
+        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
                            chmod -R 777 /tmp/comma_download_cache"
 
   test_modeld:
@@ -279,9 +267,6 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Build base Docker image
       run: eval "$BUILD"
-    - name: Build Docker image
-      # Sim docker is needed to get the OpenCL drivers
-      run: eval "$BUILD_CL"
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
@@ -289,14 +274,14 @@ jobs:
     - name: Run model replay with ONNX
       timeout-minutes: 4
       run: |
-        ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
                            ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                            coverage combine && \
                            coverage xml"
     - name: Run unit tests
       timeout-minutes: 4
       run: |
-        ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
                            $PYTEST selfdrive/modeld"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3

.github/workflows/tools_tests.yaml

@@ -12,17 +12,12 @@ concurrency:
 
 env:
   BASE_IMAGE: openpilot-base
-  CL_BASE_IMAGE: openpilot-base-cl
   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 $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/bash -c
-
 
 jobs:
   plotjuggler:
@@ -52,8 +47,6 @@ jobs:
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
-    - name: Build base cl image
-      run: eval "$BUILD_CL"
     - name: Setup to push to repo
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |

Dockerfile.openpilot_base

@@ -22,6 +22,44 @@ RUN cd /tmp && \
     rm -rf arm/ && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    lsb-core \
+    libx11-6 \
+  && rm -rf /var/lib/apt/lists/*
+
+ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
+ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
+RUN mkdir -p /tmp/opencl-driver-intel
+
+RUN cd /tmp/opencl-driver-intel && \
+    echo INTEL_DRIVER is $INTEL_DRIVER && \
+    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
+    tar -xzf $INTEL_DRIVER && \
+    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
+    dpkg -i *.deb && \
+    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX 1
+
+RUN dbus-uuidgen > /etc/machine-id
+
 ARG USER=batman
 ARG USER_UID=1000
 RUN useradd -m -s /bin/bash -u $USER_UID $USER

Dockerfile.openpilot_base_cl

@@ -1,37 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-RUN apt-get update && apt-get install -y --no-install-recommends\
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    lsb-core \
-    libx11-6 \
-  && rm -rf /var/lib/apt/lists/*
-
-# Intel OpenCL driver
-ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
-ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
-RUN mkdir -p /tmp/opencl-driver-intel
-WORKDIR /tmp/opencl-driver-intel
-RUN echo INTEL_DRIVER is $INTEL_DRIVER && \
-    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
-    tar -xzf $INTEL_DRIVER && \
-    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
-    dpkg -i *.deb && \
-    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
-    rm -rf /tmp/opencl-driver-intel
-ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX 1
-
-RUN dbus-uuidgen > /etc/machine-id
-

selfdrive/test/docker_common.sh

@@ -7,9 +7,6 @@ elif [ "$1" = "sim" ]; then
 elif [ "$1" = "prebuilt" ]; then
   export DOCKER_IMAGE=openpilot-prebuilt
   export DOCKER_FILE=Dockerfile.openpilot
-elif [ "$1" = "cl" ]; then
-  export DOCKER_IMAGE=openpilot-base-cl
-  export DOCKER_FILE=Dockerfile.openpilot_base_cl
 else
   echo "Invalid docker build image: '$1'"
   exit 1

tools/sim/Dockerfile.sim

@@ -1,4 +1,4 @@
-FROM ghcr.io/commaai/openpilot-base-cl:latest
+FROM ghcr.io/commaai/openpilot-base:latest
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
       tmux \

tools/sim/build_container.sh

@@ -3,7 +3,7 @@
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd $DIR/../../
 
-docker pull ghcr.io/commaai/openpilot-base-cl:latest
+docker pull ghcr.io/commaai/openpilot-base:latest
 docker build \
   --cache-from ghcr.io/commaai/openpilot-sim:latest \
   -t ghcr.io/commaai/openpilot-sim:latest \