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restored INDI and LQR controller (disabled by default) #128
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| name: tools | |
| on: | |
| push: | |
| branches: | |
| - master | |
| 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 | |
| DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} | |
| BUILD: | | |
| DOCKER_BUILDKIT=1 docker build --pull --cache-to type=inline --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 $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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c | |
| BUILD_CL: | | |
| DOCKER_BUILDKIT=1 docker build --pull --cache-to type=inline --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 $GITHUB_WORKSPACE:/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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c | |
| jobs: | |
| plotjuggler: | |
| name: plotjuggler | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 45 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - name: Build Docker image | |
| run: eval "$BUILD" | |
| - name: Unit test | |
| timeout-minutes: 2 | |
| run: | | |
| ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \ | |
| apt-get update && \ | |
| apt-get install -y libdw-dev libqt5svg5-dev libqt5x11extras5-dev && \ | |
| cd /tmp/openpilot/tools/plotjuggler && \ | |
| ./test_plotjuggler.py" | |
| simulator: | |
| name: simulator | |
| runs-on: ubuntu-20.04 | |
| env: | |
| IMAGE_NAME: openpilot-sim | |
| if: github.repository == 'commaai/openpilot' | |
| timeout-minutes: 45 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup | |
| with: | |
| setup_docker_scons_cache: true | |
| - name: Build base cl image | |
| run: eval "$BUILD_CL" | |
| - name: Build simulator image | |
| run: | | |
| DOCKER_BUILDKIT=1 docker build --cache-to type=inline --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim . | |
| - name: Push to container registry | |
| if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' | |
| run: | | |
| $DOCKER_LOGIN | |
| docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest | |
| docs: | |
| name: build docs | |
| runs-on: ubuntu-20.04 | |
| timeout-minutes: 45 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - uses: ./.github/workflows/setup | |
| with: | |
| setup_docker_scons_cache: true | |
| git_lfs: false | |
| - name: Build docs image | |
| run: | | |
| DOCKER_BUILDKIT=1 docker build --cache-to type=inline --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . | |
| - name: Push docker container | |
| if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' | |
| run: | | |
| $DOCKER_LOGIN | |
| docker push $DOCKER_REGISTRY/openpilot-docs:latest | |
| devcontainer: | |
| name: devcontainer | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| submodules: true | |
| - name: Setup Dev Container CLI | |
| run: npm install -g @devcontainers/cli | |
| - name: Build dev container image | |
| run: devcontainer build --workspace-folder . | |
| - name: Run dev container | |
| run: devcontainer up --workspace-folder . | |
| - name: Test environment | |
| run: devcontainer exec --workspace-folder . scons --dry-run |