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241 lines
8.3 KiB
241 lines
8.3 KiB
name: openpilot tests
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on:
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push:
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pull_request:
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schedule:
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- cron: '0 * * * *'
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env:
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RUN: docker run --shm-size 1G --rm tmppilot /bin/sh -c
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PERSIST: docker run --shm-size 1G --name tmppilot tmppilot /bin/sh -c
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CI_RUN: docker run -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID --rm tmppilotci /bin/bash -c
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UNIT_TEST: coverage run --append -m unittest discover
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BUILD: |
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# build the openpilot docker base image
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docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
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docker pull docker.io/commaai/openpilot-base:latest || true
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docker build --cache-from docker.io/commaai/openpilot-base:latest -t commaai/openpilot-base:latest -f Dockerfile.openpilot_base .
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# build the final CI image
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docker pull docker.io/commaai/openpilotci:latest || true
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docker build --cache-from docker.io/commaai/openpilotci:latest -t tmppilot -f Dockerfile.openpilotci .
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jobs:
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build_release:
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name: build release
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runs-on: ubuntu-16.04
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timeout-minutes: 50
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env:
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TEST_DIR: tmppilot
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: true
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- name: Strip non-release files
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run: |
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mkdir $TEST_DIR
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cp -pR --parents $(cat release/files_common) $TEST_DIR
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cp Dockerfile.openpilot_base Dockerfile.openpilotci $TEST_DIR
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# need this to build on x86
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cp -pR --parents phonelibs/libyuv phonelibs/snpe \
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external/bin selfdrive/modeld/runners $TEST_DIR
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# need these so docker copy won't fail
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cp Pipfile Pipfile.lock .pylintrc .pre-commit-config.yaml $TEST_DIR
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cd $TEST_DIR
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mkdir laika laika_repo tools
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- name: Build Docker image
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run: cd $TEST_DIR && eval "$BUILD"
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- name: Build openpilot and run quick check
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run: |
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$RUN "cd /tmp/openpilot && \
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scons -j$(nproc) && \
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$UNIT_TEST selfdrive/car"
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build_mac:
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name: build macos
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runs-on: macos-10.15
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timeout-minutes: 60
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: true
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- name: Cache dependencies
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id: dependency-cache
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uses: actions/cache@v2
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with:
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path: |
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~/.pyenv
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~/Library/Caches/pip
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~/Library/Caches/pipenv
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~/Library/Caches/Homebrew
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key: ${{ hashFiles('tools/mac_setup.sh') }}
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- name: Install dependencies
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run: ./tools/mac_setup.sh
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- name: Build openpilot
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run: eval "$(pyenv init -)" && scons -j$(nproc)
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- name: Brew cleanup
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run: brew cleanup # keeps our cache small
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docker_push:
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name: docker push
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runs-on: ubuntu-16.04
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timeout-minutes: 50
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if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
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needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: true
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- name: Build Docker image
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run: eval "$BUILD"
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- name: Push to dockerhub
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run: |
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docker login -u wmelching -p ${{ secrets.COMMA_DOCKERHUB_TOKEN}}
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docker tag commaai/openpilot-base:latest docker.io/commaai/openpilot-base:latest
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docker push docker.io/commaai/openpilot-base:latest
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docker tag tmppilot docker.io/commaai/openpilotci:latest
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docker push docker.io/commaai/openpilotci:latest
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docker_push_prebuilt:
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name: docker push prebuilt
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runs-on: ubuntu-16.04
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timeout-minutes: 50
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if: github.event_name == 'schedule' && github.repository == 'commaai/openpilot'
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needs: [static_analysis, unit_tests, process_replay, test_longitudinal, test_car_models]
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: true
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- name: Build Docker image
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run: echo "RUN cd /tmp/openpilot && scons -c && scons -j\$(nproc)" >> Dockerfile.openpilotci && eval "$BUILD"
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- name: Push to dockerhub
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run: |
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docker login -u wmelching -p ${{ secrets.COMMA_DOCKERHUB_TOKEN}}
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docker tag tmppilot docker.io/commaai/openpilot:latest
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docker push docker.io/commaai/openpilot:latest
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static_analysis:
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name: static analysis
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runs-on: ubuntu-16.04
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timeout-minutes: 50
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: true
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- name: Build Docker image
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run: eval "$BUILD"
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- name: pre-commit
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run: $RUN "cd /tmp/openpilot/ && git init && git add -A && pre-commit run --all"
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unit_tests:
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name: unit tests
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runs-on: ubuntu-16.04
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timeout-minutes: 50
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: true
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- name: Build Docker image
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run: eval "$BUILD"
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- name: Run unit tests
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run: |
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$PERSIST "cd /tmp/openpilot && \
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scons -j$(nproc) && \
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coverage run selfdrive/test/test_fingerprints.py && \
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$UNIT_TEST common && \
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$UNIT_TEST opendbc/can && \
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$UNIT_TEST selfdrive/boardd && \
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$UNIT_TEST selfdrive/controls && \
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$UNIT_TEST selfdrive/monitoring && \
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$UNIT_TEST selfdrive/loggerd && \
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$UNIT_TEST selfdrive/car && \
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$UNIT_TEST selfdrive/locationd && \
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$UNIT_TEST selfdrive/athena && \
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$UNIT_TEST selfdrive/thermald && \
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$UNIT_TEST tools/lib/tests"
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- name: Upload coverage to Codecov
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run: |
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docker commit tmppilot tmppilotci
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$CI_RUN "cd /tmp/openpilot && bash <(curl -s https://codecov.io/bash) -v -F unit_tests"
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process_replay:
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name: process replay
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runs-on: ubuntu-16.04
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timeout-minutes: 50
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: true
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- name: Build Docker image
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run: eval "$BUILD"
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- name: Run replay
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run: |
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$PERSIST "cd /tmp/openpilot && \
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scons -j$(nproc) && \
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CI=1 coverage run selfdrive/test/process_replay/test_processes.py"
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- name: Upload coverage to Codecov
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run: |
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docker commit tmppilot tmppilotci
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$CI_RUN "cd /tmp/openpilot && bash <(curl -s https://codecov.io/bash) -v -F process_replay"
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- name: Print diff
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if: always()
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run: |
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docker cp tmppilot:/tmp/openpilot/selfdrive/test/process_replay/diff.txt diff.txt
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cat diff.txt
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- uses: actions/upload-artifact@v2
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if: always()
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with:
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name: process_replay_diff.txt
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path: diff.txt
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test_longitudinal:
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name: longitudinal
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runs-on: ubuntu-16.04
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timeout-minutes: 50
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: true
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- name: Build Docker image
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run: eval "$BUILD"
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- name: Test longitudinal
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run: |
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$PERSIST "mkdir -p /tmp/openpilot/selfdrive/test/out && \
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cd /tmp/openpilot/ && \
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scons -j$(nproc) && \
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cd selfdrive/test/longitudinal_maneuvers && \
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OPTEST=1 ./test_longitudinal.py"
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- name: Copy artifacts
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if: always()
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run: |
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mkdir out
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docker cp tmppilot:/tmp/openpilot/selfdrive/test/longitudinal_maneuvers/out/longitudinal/ out/
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- uses: actions/upload-artifact@v2
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if: always()
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with:
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name: longitudinal
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path: out
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test_car_models:
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name: test car models
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runs-on: ubuntu-16.04
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timeout-minutes: 50
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steps:
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- uses: actions/checkout@v2
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with:
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submodules: true
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- name: Build Docker image
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run: eval "$BUILD"
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- name: Test car models
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run: |
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$PERSIST "cd /tmp/openpilot && \
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scons -j$(nproc) && \
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coverage run --parallel-mode -m nose --processes=4 --process-timeout=60 \
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selfdrive/test/test_models.py && \
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coverage combine"
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- name: Upload coverage to Codecov
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run: |
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docker commit tmppilot tmppilotci
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$CI_RUN "cd /tmp/openpilot && bash <(curl -s https://codecov.io/bash) -v -F test_car_models"
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