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388 lines
16 KiB
388 lines
16 KiB
name: selfdrive
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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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workflow_dispatch:
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workflow_call:
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inputs:
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run_number:
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default: '1'
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required: true
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type: string
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concurrency:
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group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ 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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PYTHONWARNINGS: error
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BASE_IMAGE: openpilot-base
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AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
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DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
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BUILD: selfdrive/test/docker_build.sh base
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RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -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
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PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
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jobs:
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build_release:
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name: build release
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runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
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((github.event_name != 'pull_request') ||
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(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
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env:
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STRIPPED_DIR: /tmp/releasepilot
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: true
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- name: Getting LFS files
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uses: nick-fields/retry@7152eba30c6575329ac0576536151aca5a72780e
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with:
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timeout_minutes: 2
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max_attempts: 3
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command: git lfs pull
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- name: Build devel
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timeout-minutes: 1
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run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
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- uses: ./.github/workflows/setup-with-retry
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- name: Check submodules
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if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
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timeout-minutes: 3
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run: release/check-submodules.sh
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- name: Build openpilot and run checks
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timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
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run: |
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cd $STRIPPED_DIR
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${{ env.RUN }} "python3 system/manager/build.py"
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- name: Run tests
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timeout-minutes: 1
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run: |
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cd $STRIPPED_DIR
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${{ env.RUN }} "release/check-dirty.sh && \
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MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car system/manager"
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- name: Static analysis
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timeout-minutes: 1
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run: |
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cd $GITHUB_WORKSPACE
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cp pyproject.toml $STRIPPED_DIR
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cd $STRIPPED_DIR
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${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
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build:
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strategy:
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matrix:
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arch: ${{ fromJson(
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((github.repository == 'commaai/openpilot') &&
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((github.event_name != 'pull_request') ||
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(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
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runs-on: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') ||
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((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
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'ubuntu-latest'}}
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: true
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- name: Setup docker push
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if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
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run: |
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echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
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echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
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$DOCKER_LOGIN
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- uses: ./.github/workflows/setup-with-retry
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with:
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docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
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- uses: ./.github/workflows/compile-openpilot
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timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
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build_mac:
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name: build macOS
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runs-on: namespace-profile-macos-8x14
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: true
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- name: Homebrew cache
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uses: ./.github/workflows/auto-cache
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with:
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path: ~/Library/Caches/Homebrew
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- name: Install dependencies
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run: ./tools/mac_setup.sh
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env:
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# package install has DeprecationWarnings
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PYTHONWARNINGS: default
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- run: git lfs pull
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- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
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- name: Getting scons cache
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uses: ./.github/workflows/auto-cache
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with:
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path: /tmp/scons_cache
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- name: Building openpilot
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run: . .venv/bin/activate && scons -j$(nproc)
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docker_push_multiarch:
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name: docker push multiarch tag
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runs-on: ubuntu-latest
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if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
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needs: [build]
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: false
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- name: Setup docker
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run: |
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$DOCKER_LOGIN
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- name: Merge x64 and arm64 tags
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run: |
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export PUSH_IMAGE=true
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scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
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static_analysis:
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name: static analysis
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runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
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((github.event_name != 'pull_request') ||
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(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
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env:
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PYTHONWARNINGS: default
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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: Static analysis
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timeout-minutes: 1
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run: ${{ env.RUN }} "scripts/lint/lint.sh"
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unit_tests:
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name: unit tests
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runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
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((github.event_name != 'pull_request') ||
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(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
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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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with:
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docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
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- name: Build openpilot
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timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
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run: ${{ env.RUN }} "scons -j$(nproc)"
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- name: Run unit tests
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timeout-minutes: ${{ contains(runner.name, 'nsc') && 1 || 20 }}
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run: |
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${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
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MAX_EXAMPLES=1 $PYTEST --timeout 60 -m 'not slow' && \
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./selfdrive/ui/tests/create_test_translations.sh && \
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QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
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pytest ./selfdrive/ui/tests/test_translations.py"
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- name: "Upload coverage to Codecov"
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uses: codecov/codecov-action@v4
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with:
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name: ${{ github.job }}
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env:
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CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
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process_replay:
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name: process replay
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runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
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((github.event_name != 'pull_request') ||
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(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
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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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with:
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docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
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- name: Cache test routes
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id: dependency-cache
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uses: actions/cache@v4
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with:
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path: .ci_cache/comma_download_cache
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key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
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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: Run replay
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timeout-minutes: 30
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run: |
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${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
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chmod -R 777 /tmp/comma_download_cache && \
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coverage combine && \
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coverage xml"
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- name: Print diff
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id: print-diff
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if: always()
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run: cat selfdrive/test/process_replay/diff.txt
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- uses: actions/upload-artifact@v4
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if: always()
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continue-on-error: true
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with:
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name: process_replay_diff.txt
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path: selfdrive/test/process_replay/diff.txt
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- name: Upload reference logs
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if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
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run: |
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${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
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- name: Run regen
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if: false
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timeout-minutes: 4
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run: |
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${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
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chmod -R 777 /tmp/comma_download_cache"
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- name: "Upload coverage to Codecov"
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uses: codecov/codecov-action@v4
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with:
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name: ${{ github.job }}
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env:
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CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
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test_cars:
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name: cars
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runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
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((github.event_name != 'pull_request') ||
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(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
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strategy:
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fail-fast: false
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matrix:
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job: [0, 1, 2, 3]
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: true
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- uses: ./.github/workflows/setup-with-retry
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- name: Cache test routes
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id: dependency-cache
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uses: ./.github/workflows/auto-cache
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with:
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path: .ci_cache/comma_download_cache
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key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
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- name: Build openpilot
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run: ${{ env.RUN }} "scons -j$(nproc)"
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- name: Test car models
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timeout-minutes: ${{ contains(runner.name, 'nsc') && 2 || 20 }}
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run: |
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${{ env.RUN }} "FILEREADER_CACHE=1 MAX_EXAMPLES=1 $PYTEST selfdrive/car/tests/test_models.py && \
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chmod -R 777 /tmp/comma_download_cache"
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env:
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NUM_JOBS: 4
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JOB_ID: ${{ matrix.job }}
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- name: "Upload coverage to Codecov"
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uses: codecov/codecov-action@v4
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with:
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name: ${{ github.job }}-${{ matrix.job }}
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env:
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CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
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car_docs_diff:
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name: PR comments
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runs-on: ubuntu-latest
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#if: github.event_name == 'pull_request'
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if: false # TODO: run this in opendbc?
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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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ref: ${{ github.event.pull_request.base.ref }}
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- run: git lfs pull
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- uses: ./.github/workflows/setup-with-retry
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- name: Get base car info
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run: |
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${{ env.RUN }} "scons -j$(nproc) && python3 selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
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sudo chown -R $USER:$USER ${{ github.workspace }}
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- uses: actions/checkout@v4
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with:
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submodules: true
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path: current
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- run: cd current && git lfs pull
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- name: Save car docs diff
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id: save_diff
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run: |
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cd current
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${{ env.RUN }} "scons -j$(nproc)"
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output=$(${{ env.RUN }} "python3 selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
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output="${output//$'\n'/'%0A'}"
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echo "::set-output name=diff::$output"
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- name: Find comment
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if: ${{ env.AZURE_TOKEN != '' }}
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uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
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id: fc
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with:
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issue-number: ${{ github.event.pull_request.number }}
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body-includes: This PR makes changes to
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- name: Update comment
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if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
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uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043
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with:
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comment-id: ${{ steps.fc.outputs.comment-id }}
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issue-number: ${{ github.event.pull_request.number }}
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body: "${{ steps.save_diff.outputs.diff }}"
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edit-mode: replace
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- name: Delete comment
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if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
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uses: actions/github-script@v7
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with:
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script: |
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github.rest.issues.deleteComment({
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owner: context.repo.owner,
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repo: context.repo.repo,
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comment_id: ${{ steps.fc.outputs.comment-id }}
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})
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simulator_driving:
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name: simulator driving
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runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
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((github.event_name != 'pull_request') ||
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(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: true
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- uses: ./.github/workflows/setup-with-retry
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- name: Build openpilot
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run: |
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${{ env.RUN }} "scons -j$(nproc)"
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- name: Driving test
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timeout-minutes: 1
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run: |
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${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
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source selfdrive/test/setup_vsound.sh && \
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CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
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create_ui_report:
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# This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
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name: Create UI Report
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runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
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((github.event_name != 'pull_request') ||
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(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: true
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- uses: ./.github/workflows/setup-with-retry
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- name: caching frames
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id: frames-cache
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uses: actions/cache@v4
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with:
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path: .ci_cache/comma_download_cache
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key: ui_screenshots_test_${{ hashFiles('selfdrive/ui/tests/test_ui/run.py') }}
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- name: Build openpilot
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run: ${{ env.RUN }} "scons -j$(nproc)"
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- name: Create Test Report
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timeout-minutes: ${{ ((steps.frames-cache.outputs.cache-hit == 'true') && 1 || 3) }}
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run: >
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${{ env.RUN }} "PYTHONWARNINGS=ignore &&
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source selfdrive/test/setup_xvfb.sh &&
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CACHE_ROOT=/tmp/comma_download_cache python3 selfdrive/ui/tests/test_ui/run.py &&
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chmod -R 777 /tmp/comma_download_cache"
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- name: Upload Test Report
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uses: actions/upload-artifact@v4
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with:
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name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
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path: selfdrive/ui/tests/test_ui/report_1/screenshots
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