Yassine
2 years ago
commit
d26fd5b4da
51 changed files with 281 additions and 283 deletions
@ -0,0 +1,62 @@ |
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name: docs |
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on: |
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push: |
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branches: |
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- master |
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pull_request: |
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concurrency: |
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group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }} |
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cancel-in-progress: true |
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env: |
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BASE_IMAGE: openpilot-base |
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BUILD: selfdrive/test/docker_build.sh base |
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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 $BASE_IMAGE /bin/sh -c |
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jobs: |
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docs: |
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name: build docs |
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runs-on: ubuntu-20.04 |
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timeout-minutes: 45 |
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steps: |
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- uses: actions/checkout@v4 |
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with: |
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submodules: true |
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- uses: ./.github/workflows/setup-with-retry |
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- name: Build openpilot |
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run: | |
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${{ env.RUN }} "scons -j$(nproc)" |
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- name: Build docs |
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run: | |
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${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make html" |
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- uses: actions/checkout@v4 |
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if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' |
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with: |
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path: openpilot-docs |
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ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }} |
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repository: commaai/openpilot-docs |
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- name: Push |
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if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' |
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run: | |
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set -x |
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source release/identity.sh |
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cd openpilot-docs |
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git checkout --orphan tmp |
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git rm -rf --cached . |
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cp -r ../build/docs/html/ docs/ |
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touch docs/.nojekyll |
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git add -f . |
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git commit -m "build docs" |
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# docs live in different repo to not bloat openpilot's full clone size |
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git push -f origin gh-pages |
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@ -1 +1 @@ |
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Subproject commit b1a1afebb8533a96ff0e8efbba7c10eb47df2af0 |
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Subproject commit 24a522f6ba47aba12a9baea53020a8323673c79c |
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@ -1,42 +0,0 @@ |
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FROM ghcr.io/commaai/openpilot-base:latest |
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ENV PYTHONUNBUFFERED 1 |
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ENV OPENPILOT_PATH /tmp/openpilot |
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ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} |
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ENV POETRY_VIRUALENVS_CREATE false |
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RUN mkdir -p ${OPENPILOT_PATH} |
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WORKDIR ${OPENPILOT_PATH} |
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COPY SConstruct ${OPENPILOT_PATH} |
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COPY ./openpilot ${OPENPILOT_PATH}/openpilot |
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COPY ./body ${OPENPILOT_PATH}/body |
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COPY ./third_party ${OPENPILOT_PATH}/third_party |
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COPY ./site_scons ${OPENPILOT_PATH}/site_scons |
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COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo |
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RUN ln -s ${OPENPILOT_PATH}/laika_repo/laika/ ${OPENPILOT_PATH}/laika |
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COPY ./rednose ${OPENPILOT_PATH}/rednose |
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COPY ./rednose_repo ${OPENPILOT_PATH}/rednose_repo |
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COPY ./tools ${OPENPILOT_PATH}/tools |
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COPY ./release ${OPENPILOT_PATH}/release |
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COPY ./common ${OPENPILOT_PATH}/common |
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COPY ./opendbc ${OPENPILOT_PATH}/opendbc |
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COPY ./cereal ${OPENPILOT_PATH}/cereal |
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COPY ./panda ${OPENPILOT_PATH}/panda |
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COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive |
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COPY ./system ${OPENPILOT_PATH}/system |
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COPY ./*.md ${OPENPILOT_PATH}/ |
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RUN --mount=type=bind,source=.ci_cache/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc) --cache-readonly |
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RUN apt update && apt install doxygen -y |
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COPY ./docs ${OPENPILOT_PATH}/docs |
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RUN git init . |
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WORKDIR ${OPENPILOT_PATH}/docs |
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RUN make html |
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FROM nginx:1.21 |
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COPY --from=0 /tmp/openpilot/build/docs/html /usr/share/nginx/html |
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COPY ./docs/docker/nginx.conf /etc/nginx/conf.d/default.conf |
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@ -1,15 +0,0 @@ |
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server { |
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listen 80; |
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listen [::]:80; |
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server_name localhost; |
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gzip on; |
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gzip_types text/html text/plain text/css text/xml text/javascript application/javascript application/x-javascript; |
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gzip_min_length 1024; |
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gzip_vary on; |
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root /usr/share/nginx/html; |
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location / { |
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try_files $uri $uri/ /index.html; |
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} |
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} |
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@ -0,0 +1,50 @@ |
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import numpy as np |
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from typing import List, Optional, Tuple, Any |
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class NPQueue: |
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def __init__(self, maxlen: int, rowsize: int) -> None: |
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self.maxlen = maxlen |
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self.arr = np.empty((0, rowsize)) |
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def __len__(self) -> int: |
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return len(self.arr) |
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def append(self, pt: List[float]) -> None: |
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if len(self.arr) < self.maxlen: |
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self.arr = np.append(self.arr, [pt], axis=0) |
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else: |
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self.arr[:-1] = self.arr[1:] |
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self.arr[-1] = pt |
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class PointBuckets: |
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def __init__(self, x_bounds: List[Tuple[float, float]], min_points: List[float], min_points_total: int, points_per_bucket: int, rowsize: int) -> None: |
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self.x_bounds = x_bounds |
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self.buckets = {bounds: NPQueue(maxlen=points_per_bucket, rowsize=rowsize) for bounds in x_bounds} |
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self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True)) |
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self.min_points_total = min_points_total |
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def bucket_lengths(self) -> List[int]: |
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return [len(v) for v in self.buckets.values()] |
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def __len__(self) -> int: |
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return sum(self.bucket_lengths()) |
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def is_valid(self) -> bool: |
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individual_buckets_valid = all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values(), strict=True)) |
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total_points_valid = self.__len__() >= self.min_points_total |
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return individual_buckets_valid and total_points_valid |
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def add_point(self, x: float, y: float, bucket_val: float) -> None: |
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raise NotImplementedError |
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def get_points(self, num_points: Optional[int] = None) -> Any: |
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points = np.vstack([x.arr for x in self.buckets.values()]) |
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if num_points is None: |
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return points |
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return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)] |
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def load_points(self, points: List[List[float]]) -> None: |
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for point in points: |
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self.add_point(*point) |
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@ -1 +1 @@ |
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ed2d58ec217fafb7b6b8f5e27ec622acd9e734f4 |
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f851c7e7f90eff828a59444d20fac5df8cd7ae0c |
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@ -1,5 +1,4 @@ |
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#!/bin/sh |
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cd "$(dirname "$0")" |
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export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH" |
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export QT_QPA_PLATFORM="offscreen" |
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exec ./_soundd |
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@ -1,5 +1,4 @@ |
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#!/bin/sh |
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cd "$(dirname "$0")" |
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export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH" |
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export QT_DBL_CLICK_DIST=150 |
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exec ./_ui |
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@ -1 +1 @@ |
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_sensord |
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sensord |
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@ -1,4 +0,0 @@ |
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#!/bin/sh |
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cd "$(dirname "$0")" |
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export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH" |
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exec ./_sensord |
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@ -1 +1 @@ |
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Subproject commit d8dda2af3afcef0bb772fff580cfa8b3eabf7f69 |
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Subproject commit 5a4a62ecaecb2bfd8bb0f77033aca46df4e668bd |
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