name: selfdrive

on:
  push:
    branches-ignore:
      - 'testing-closet*'
  pull_request:

concurrency:
  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
  cancel-in-progress: true

env:
  BASE_IMAGE: openpilot-base
  CL_BASE_IMAGE: openpilot-base-cl
  DOCKER_REGISTRY: ghcr.io/commaai
  AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}

  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
  BUILD: |
      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .

  RUN: docker run --shm-size 1G -v $PWD:/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 /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c

  BUILD_CL: |
      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
  RUN_CL: 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 /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c

  UNIT_TEST: coverage run --append -m unittest discover

jobs:
  build_release:
    name: build release
    runs-on: ubuntu-20.04
    env:
      STRIPPED_DIR: /tmp/releasepilot
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - name: Build devel
      run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
    - uses: ./.github/workflows/setup
    - name: Check submodules
      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
      run: release/check-submodules.sh
    - name: Build openpilot and run checks
      run: |
        cd $STRIPPED_DIR
        ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py"
    - name: Run tests
      run: |
        cd $STRIPPED_DIR
        ${{ env.RUN }} "release/check-dirty.sh && \
                        python -m unittest discover selfdrive/car"
    - name: pre-commit
      run: |
        cd $GITHUB_WORKSPACE
        cp .pre-commit-config.yaml $STRIPPED_DIR
        cp .pylintrc $STRIPPED_DIR
        cp mypy.ini $STRIPPED_DIR
        cd $STRIPPED_DIR
        ${{ env.RUN }} "pre-commit run --all"

  build_all:
    name: build all
    runs-on: ubuntu-20.04
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - uses: ./.github/workflows/setup
      with:
        save-cache: true
    - name: Build openpilot with all flags
      run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh"
    - name: Cleanup scons cache
      run: |
          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
                          scons -j$(nproc) --cache-populate"

  #build_mac:
  #  name: build macos
  #  runs-on: macos-latest
  #  steps:
  #  - uses: actions/checkout@v3
  #    with:
  #      submodules: true
  #  - name: Determine pre-existing Homebrew packages
  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
  #    run: |
  #      echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
  #      ls -1 /usr/local/Cellar >> $GITHUB_ENV
  #      echo 'EOF' >> $GITHUB_ENV
  #  - name: Cache dependencies
  #    id: dependency-cache
  #    uses: actions/cache@v2
  #    with:
  #      path: |
  #        ~/.pyenv
  #        ~/.local/share/virtualenvs/
  #        /usr/local/Cellar
  #        ~/github_brew_cache_entries.txt
  #        /tmp/scons_cache
  #      key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
  #      restore-keys: macos-
  #  - name: Brew link restored dependencies
  #    run: |
  #      if [ -f ~/github_brew_cache_entries.txt ]; then
  #        while read pkg; do
  #          brew link --force "$pkg" # `--force` for keg-only packages
  #        done < ~/github_brew_cache_entries.txt
  #      else
  #        echo "Cache entries not found"
  #      fi
  #  - name: Install dependencies
  #    run: ./tools/mac_setup.sh
  #  - name: Build openpilot
  #    run: |
  #      source tools/openpilot_env.sh
  #      poetry run selfdrive/manager/build.py
  #
  #      # cleanup scons cache
  #      rm -rf /tmp/scons_cache/
  #      poetry run scons -j$(nproc) --cache-populate
  #  - name: Remove pre-existing Homebrew packages for caching
  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
  #    run: |
  #      cd /usr/local/Cellar
  #      new_cellar=$(ls -1)
  #      comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
  #        if [[ $pkg != "zstd" ]]; then # caching step needs zstd
  #          rm -rf "$pkg"
  #        fi
  #      done
  #      comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt

  docker_push:
    name: docker push
    runs-on: ubuntu-20.04
    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
    needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - name: Build Docker image
      run: eval "$BUILD"
    - name: Push to container registry
      run: |
        $DOCKER_LOGIN
        docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
    - name: Build CL Docker image
      run: eval "$BUILD_CL"
    - name: Push to container registry
      run: |
        $DOCKER_LOGIN
        docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest

  static_analysis:
    name: static analysis
    runs-on: ubuntu-20.04
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - name: Build Docker image
      run: eval "$BUILD"
    - name: pre-commit
      run: ${{ env.RUN }} "pre-commit run --all"

  valgrind:
    name: valgrind
    runs-on: ubuntu-20.04
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - uses: ./.github/workflows/setup
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run valgrind
      run: |
        ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
    - name: Print logs
      if: always()
      run: cat selfdrive/test/valgrind_logs.txt

  unit_tests:
    name: unit tests
    runs-on: ubuntu-20.04
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - uses: ./.github/workflows/setup
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run unit tests
      run: |
        ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
                        $UNIT_TEST common && \
                        $UNIT_TEST opendbc/can && \
                        $UNIT_TEST selfdrive/boardd && \
                        $UNIT_TEST selfdrive/controls && \
                        $UNIT_TEST selfdrive/monitoring && \
                        $UNIT_TEST system/loggerd && \
                        $UNIT_TEST selfdrive/car && \
                        $UNIT_TEST selfdrive/locationd && \
                        $UNIT_TEST system/ubloxd && \
                        selfdrive/locationd/test/_test_locationd_lib.py && \
                        ./system/ubloxd/tests/test_glonass_runner && \
                        $UNIT_TEST selfdrive/athena && \
                        $UNIT_TEST selfdrive/thermald && \
                        $UNIT_TEST system/hardware/tici && \
                        $UNIT_TEST tools/lib/tests && \
                        ./selfdrive/ui/tests/create_test_translations.sh && \
                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                        ./selfdrive/ui/tests/test_translations.py && \
                        ./common/tests/test_util && \
                        ./common/tests/test_swaglog && \
                        ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
                        ./system/loggerd/tests/test_logger &&\
                        ./system/proclogd/tests/test_proclog && \
                        ./tools/replay/tests/test_replay && \
                        ./tools/cabana/tests/test_cabana && \
                        ./system/camerad/test/ae_gray_test && \
                        coverage xml"
    - name: "Upload coverage to Codecov"
      uses: codecov/codecov-action@v2

  process_replay:
    name: process replay
    runs-on: ubuntu-20.04
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - uses: ./.github/workflows/setup
    - name: Cache test routes
      id: dependency-cache
      uses: actions/cache@v3
      with:
        path: /tmp/comma_download_cache
        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
    - name: Build openpilot
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Run replay
      run: |
        ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                        coverage xml"
    - name: Print diff
      id: print-diff
      if: always()
      run: cat selfdrive/test/process_replay/diff.txt
    - uses: actions/upload-artifact@v2
      if: always()
      continue-on-error: true
      with:
        name: process_replay_diff.txt
        path: selfdrive/test/process_replay/diff.txt
    - name: Upload reference logs
      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
      run: |
        ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
    - name: "Upload coverage to Codecov"
      uses: codecov/codecov-action@v2

  test_modeld:
    name: model tests
    runs-on: ubuntu-20.04
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - uses: ./.github/workflows/setup
    - 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)"
    - name: Run model replay with ONNX
      run: |
        ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                           coverage xml"
    - name: Run unit tests
      run: |
        ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \
                           coverage xml"
    - name: "Upload coverage to Codecov"
      uses: codecov/codecov-action@v2

  test_longitudinal:
    name: longitudinal
    runs-on: ubuntu-20.04
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - uses: ./.github/workflows/setup
    - name: Build openpilot
      run: |
        ${{ env.RUN }} "scons -j$(nproc)"
    - name: Test longitudinal
      run: |
        ${{ env.RUN }} "mkdir -p selfdrive/test/out && \
                        cd selfdrive/test/longitudinal_maneuvers && \
                        coverage run ./test_longitudinal.py && \
                        coverage xml"
    - name: "Upload coverage to Codecov"
      uses: codecov/codecov-action@v2
    - uses: actions/upload-artifact@v2
      if: always()
      continue-on-error: true
      with:
        name: longitudinal
        path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/

  test_cars:
    name: cars
    runs-on: ubuntu-20.04
    strategy:
      fail-fast: false
      matrix:
        job: [0, 1, 2, 3, 4]
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - uses: ./.github/workflows/setup
    - name: Cache test routes
      id: dependency-cache
      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
      with:
        path: /tmp/comma_download_cache
        key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
    - name: Build openpilot
      run: ${{ env.RUN }} "scons -j$(nproc)"
    - name: Test car models
      run: |
        ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \
                        coverage xml && \
                        chmod -R 777 /tmp/comma_download_cache"
      env:
        NUM_JOBS: 5
        JOB_ID: ${{ matrix.job }}
    - name: "Upload coverage to Codecov"
      uses: codecov/codecov-action@v2

  car_docs_diff:
    name: PR comments
    runs-on: ubuntu-20.04
    if: github.event_name == 'pull_request'
    steps:
      - uses: actions/checkout@v3
        with:
          submodules: true
          ref: ${{ github.event.pull_request.base.ref }}
      - uses: ./.github/workflows/setup
      - name: Get base car info
        run: |
          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
          sudo chown -R $USER:$USER ${{ github.workspace }}
      - uses: actions/checkout@v3
        with:
          submodules: true
      - name: Save car docs diff
        id: save_diff
        run: |
          ${{ env.RUN }} "scons -j$(nproc)"
          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true
          output="${output//$'\n'/'%0A'}"
          echo "::set-output name=diff::$output"
      - name: Find comment
        if: ${{ env.AZURE_TOKEN != '' }}
        uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
        id: fc
        with:
          issue-number: ${{ github.event.pull_request.number }}
          body-includes: This PR makes changes to
      - name: Update comment
        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
        uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
        with:
          comment-id: ${{ steps.fc.outputs.comment-id }}
          issue-number: ${{ github.event.pull_request.number }}
          body: "${{ steps.save_diff.outputs.diff }}"
          edit-mode: replace
      - name: Delete comment
        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
        uses: actions/github-script@v6
        with:
          script: |
            github.rest.issues.deleteComment({
              owner: context.repo.owner,
              repo: context.repo.repo,
              comment_id: ${{ steps.fc.outputs.comment-id }}
            })