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281 lines
10 KiB
281 lines
10 KiB
def retryWithDelay(int maxRetries, int delay, Closure body) {
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for (int i = 0; i < maxRetries; i++) {
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try {
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return body()
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} catch (Exception e) {
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sleep(delay)
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}
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}
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throw Exception("Failed after ${maxRetries} retries")
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}
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def device(String ip, String step_label, String cmd) {
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withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
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def ssh_cmd = """
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ssh -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' exec /usr/bin/bash <<'END'
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set -e
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export TERM=xterm-256color
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shopt -s huponexit # kill all child processes when the shell exits
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export CI=1
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export PYTHONWARNINGS=error
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export LOGPRINT=debug
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export TEST_DIR=${env.TEST_DIR}
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export SOURCE_DIR=${env.SOURCE_DIR}
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export GIT_BRANCH=${env.GIT_BRANCH}
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export GIT_COMMIT=${env.GIT_COMMIT}
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export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
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export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
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export AZURE_TOKEN='${env.AZURE_TOKEN}'
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# only use 1 thread for tici tests since most require HIL
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export PYTEST_ADDOPTS="-n0 -s"
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export GIT_SSH_COMMAND="ssh -i /data/gitkey"
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source ~/.bash_profile
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if [ -f /TICI ]; then
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source /etc/profile
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rm -rf /tmp/tmp*
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rm -rf ~/.commacache
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rm -rf /dev/shm/*
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rm -rf /dev/tmp/tmp*
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if ! systemctl is-active --quiet systemd-resolved; then
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echo "restarting resolved"
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sudo systemctl start systemd-resolved
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sleep 3
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fi
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# restart aux USB
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if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
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echo "restarting aux usb"
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echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
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sleep 0.5
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echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
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fi
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fi
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if [ -f /data/openpilot/launch_env.sh ]; then
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source /data/openpilot/launch_env.sh
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fi
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ln -snf ${env.TEST_DIR} /data/pythonpath
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cd ${env.TEST_DIR} || true
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time ${cmd}
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END"""
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sh script: ssh_cmd, label: step_label
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}
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}
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def deviceStage(String stageName, String deviceType, List extra_env, def steps) {
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stage(stageName) {
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if (currentBuild.result != null) {
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return
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}
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if (isReplay()) {
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error("REPLAYING TESTS IS NOT ALLOWED. FIX THEM INSTEAD.")
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}
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def extra = extra_env.collect { "export ${it}" }.join('\n');
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def branch = env.BRANCH_NAME ?: 'master';
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def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
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lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
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docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
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timeout(time: 35, unit: 'MINUTES') {
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retry (3) {
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def date = sh(script: 'date', returnStdout: true).trim();
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device(device_ip, "set time", "date -s '" + date + "'")
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device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
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}
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steps.each { item ->
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def name = item[0]
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def cmd = item[1]
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def args = item[2]
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def diffPaths = args.diffPaths ?: []
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def cmdTimeout = args.timeout ?: 9999
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if (branch != "master" && !branch.contains("__jenkins_loop_") && diffPaths && !hasPathChanged(gitDiff, diffPaths)) {
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println "Skipping ${name}: no changes in ${diffPaths}."
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return
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} else {
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timeout(time: cmdTimeout, unit: 'SECONDS') {
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device(device_ip, name, cmd)
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}
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}
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}
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}
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}
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}
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}
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}
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def hasPathChanged(String gitDiff, List<String> paths) {
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for (path in paths) {
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if (gitDiff.contains(path)) {
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return true
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}
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}
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return false
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}
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def isReplay() {
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def replayClass = "org.jenkinsci.plugins.workflow.cps.replay.ReplayCause"
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return currentBuild.rawBuild.getCauses().any{ cause -> cause.toString().contains(replayClass) }
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}
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def setupCredentials() {
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withCredentials([
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string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
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]) {
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env.AZURE_TOKEN = "${AZURE_TOKEN}"
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}
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withCredentials([
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string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
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]) {
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env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
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}
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withCredentials([
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string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
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]) {
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env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
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}
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}
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def step(String name, String cmd, Map args = [:]) {
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return [name, cmd, args]
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}
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node {
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env.CI = "1"
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env.PYTHONWARNINGS = "error"
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env.TEST_DIR = "/data/openpilot"
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env.SOURCE_DIR = "/data/openpilot_source/"
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setupCredentials()
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env.GIT_BRANCH = checkout(scm).GIT_BRANCH
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env.GIT_COMMIT = checkout(scm).GIT_COMMIT
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def excludeBranches = ['__nightly', 'devel', 'devel-staging', 'release3', 'release3-staging',
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'testing-closet*', 'hotfix-*']
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def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
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if (env.BRANCH_NAME != 'master' && !env.BRANCH_NAME.contains('__jenkins_loop_')) {
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properties([
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disableConcurrentBuilds(abortPrevious: true)
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])
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}
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try {
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if (env.BRANCH_NAME == 'devel-staging') {
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deviceStage("build release3-staging", "tici-needs-can", [], [
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step("build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"),
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])
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}
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if (env.BRANCH_NAME == '__nightly') {
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parallel (
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'nightly': {
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deviceStage("build nightly", "tici-needs-can", [], [
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step("build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"),
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])
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},
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'nightly-dev': {
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deviceStage("build nightly-dev", "tici-needs-can", [], [
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step("build nightly-dev", "PANDA_DEBUG_BUILD=1 RELEASE_BRANCH=nightly-dev $SOURCE_DIR/release/build_release.sh"),
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])
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},
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)
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}
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if (!env.BRANCH_NAME.matches(excludeRegex)) {
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parallel (
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// tici tests
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'onroad tests': {
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deviceStage("onroad", "tici-needs-can", ["UNSAFE=1"], [
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step("build openpilot", "cd system/manager && ./build.py"),
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step("check dirty", "release/check-dirty.sh"),
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step("onroad tests", "pytest selfdrive/test/test_onroad.py -s", [timeout: 60]),
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])
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},
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'HW + Unit Tests': {
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deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
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step("build", "cd system/manager && ./build.py"),
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step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
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step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
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step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
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step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
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step("test manager", "pytest system/manager/test/test_manager.py"),
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])
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},
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'loopback': {
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deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
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step("build openpilot", "cd system/manager && ./build.py"),
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step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
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])
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},
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'camerad AR0231': {
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deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
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step("build", "cd system/manager && ./build.py"),
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step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
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step("test exposure", "pytest system/camerad/test/test_exposure.py"),
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])
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},
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'camerad OX03C10': {
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deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
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step("build", "cd system/manager && ./build.py"),
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step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
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step("test exposure", "pytest system/camerad/test/test_exposure.py"),
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])
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},
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'camerad OS04C10': {
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deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
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step("build", "cd system/manager && ./build.py"),
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step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
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step("test exposure", "pytest system/camerad/test/test_exposure.py"),
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])
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},
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'sensord': {
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deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
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step("build", "cd system/manager && ./build.py"),
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step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
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])
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deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
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step("build", "cd system/manager && ./build.py"),
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step("test sensord", "pytest system/sensord/tests/test_sensord.py"),
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])
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},
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'replay': {
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deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
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step("build", "cd system/manager && ./build.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
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step("model replay", "selfdrive/test/process_replay/model_replay.py", [diffPaths: ["selfdrive/modeld/", "tinygrad_repo", "selfdrive/test/process_replay/model_replay.py"]]),
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])
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},
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'tizi': {
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deviceStage("tizi", "tizi", ["UNSAFE=1"], [
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step("build openpilot", "cd system/manager && ./build.py"),
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step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
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step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
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step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
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step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
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step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
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])
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},
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)
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}
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} catch (Exception e) {
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currentBuild.result = 'FAILED'
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throw e
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}
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}
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