process replay: use zst #82621

Workflow file for this run

.github/workflows/selfdrive_tests.yaml at d28ac42

	name: selfdrive

	on:
	push:
	branches:
	- master
	pull_request:
	workflow_dispatch:
	workflow_call:
	inputs:
	run_number:
	default: '1'
	required: true
	type: string

	concurrency:
	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 }}
	cancel-in-progress: true

	env:
	PYTHONWARNINGS: error
	BASE_IMAGE: openpilot-base
	AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}

	DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
	BUILD: selfdrive/test/docker_build.sh base

	RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -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/pre-commit:/tmp/pre-commit -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

	PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical

	jobs:
	build_release:
	name: build release
	runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
	((github.event_name != 'pull_request') \|\|
	(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' \|\| 'ubuntu-latest' }}
	env:
	STRIPPED_DIR: /tmp/releasepilot
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: true
	- run: git lfs pull
	- name: Build devel
	timeout-minutes: 1
	run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
	- uses: ./.github/workflows/setup-pre-commit
	- uses: ./.github/workflows/setup-with-retry
	- name: Check submodules
	if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
	timeout-minutes: 1
	run: release/check-submodules.sh
	- name: Build openpilot and run checks
	timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 \|\| 30) }} # allow more time when we missed the scons cache
	run: \|
	cd $STRIPPED_DIR
	${{ env.RUN }} "python system/manager/build.py"
	- name: Run tests
	timeout-minutes: 3
	run: \|
	cd $STRIPPED_DIR
	${{ env.RUN }} "release/check-dirty.sh && \
	MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
	- name: pre-commit
	timeout-minutes: 3
	run: \|
	cd $GITHUB_WORKSPACE
	cp .pre-commit-config.yaml $STRIPPED_DIR
	cp pyproject.toml $STRIPPED_DIR
	cd $STRIPPED_DIR
	${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"

	build:
	strategy:
	matrix:
	arch: ${{ fromJson(
	((github.repository == 'commaai/openpilot') &&
	((github.event_name != 'pull_request') \|\|
	(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' \|\| '["x86_64"]' ) }}
	runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' \|\| 'ubuntu-latest' }}
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: true
	- name: Setup docker push
	if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
	run: \|
	echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
	echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
	$DOCKER_LOGIN
	- uses: ./.github/workflows/setup-with-retry
	with:
	docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
	- uses: ./.github/workflows/compile-openpilot
	timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 \|\| 30) }} # allow more time when we missed the scons cache

	build_mac:
	name: build macOS
	runs-on: macos-latest
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: true
	- run: git lfs pull
	- name: Install dependencies
	run: ./tools/mac_setup.sh
	env:
	# package install has DeprecationWarnings
	PYTHONWARNINGS: default
	- run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
	- name: Getting scons cache
	uses: 'actions/cache@v4'
	with:
	path: /tmp/scons_cache
	key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
	restore-keys: \|
	scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
	scons-${{ runner.arch }}-macos
	- name: Building openpilot
	run: . .venv/bin/activate && scons -j$(nproc)

	docker_push_multiarch:
	name: docker push multiarch tag
	runs-on: ubuntu-latest
	if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
	needs: [build]
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: false
	- name: Setup docker
	run: \|
	$DOCKER_LOGIN
	- name: Merge x64 and arm64 tags
	run: \|
	export PUSH_IMAGE=true
	scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64

	static_analysis:
	name: static analysis
	runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
	((github.event_name != 'pull_request') \|\|
	(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' \|\| 'ubuntu-latest' }}
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: true
	- uses: ./.github/workflows/setup-pre-commit
	- uses: ./.github/workflows/setup-with-retry
	- name: Build openpilot
	run: ${{ env.RUN }} "scons -j$(nproc)"
	- name: pre-commit
	timeout-minutes: 4
	run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"

	unit_tests:
	name: unit tests
	runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
	((github.event_name != 'pull_request') \|\|
	(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' \|\| 'ubuntu-latest' }}
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: true
	- uses: ./.github/workflows/setup-with-retry
	with:
	docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
	- name: Build openpilot
	timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 \|\| 30) }} # allow more time when we missed the scons cache
	run: ${{ env.RUN }} "scons -j$(nproc)"
	- name: Run unit tests
	timeout-minutes: 15
	run: \|
	${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
	$PYTEST --timeout 60 -m 'not slow' && \
	./selfdrive/ui/tests/create_test_translations.sh && \
	QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
	pytest ./selfdrive/ui/tests/test_translations.py"
	- name: "Upload coverage to Codecov"
	uses: codecov/codecov-action@v4
	with:
	name: ${{ github.job }}
	env:
	CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

	process_replay:
	name: process replay
	runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
	((github.event_name != 'pull_request') \|\|
	(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' \|\| 'ubuntu-latest' }}
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: true
	- uses: ./.github/workflows/setup-with-retry
	with:
	docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
	- name: Cache test routes
	id: dependency-cache
	uses: actions/cache@v4
	with:
	path: .ci_cache/comma_download_cache
	key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }}
	- name: Build openpilot
	run: \|
	${{ env.RUN }} "scons -j$(nproc)"
	- name: Run replay
	timeout-minutes: 30
	run: \|
	${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
	chmod -R 777 /tmp/comma_download_cache && \
	coverage combine && \
	coverage xml"
	- name: Print diff
	id: print-diff
	if: always()
	run: cat selfdrive/test/process_replay/diff.txt
	- uses: actions/upload-artifact@v4
	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: \|
	${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
	# PYTHONWARNINGS triggers a SyntaxError in onnxruntime
	- name: Run model replay with ONNX
	timeout-minutes: 4
	run: \|
	${{ env.RUN }} "unset PYTHONWARNINGS && \
	ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
	coverage combine && coverage xml"
	- name: Run regen
	timeout-minutes: 4
	run: \|
	${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
	chmod -R 777 /tmp/comma_download_cache"
	- name: "Upload coverage to Codecov"
	uses: codecov/codecov-action@v4
	with:
	name: ${{ github.job }}
	env:
	CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

	test_cars:
	name: cars
	runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
	((github.event_name != 'pull_request') \|\|
	(github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' \|\| 'ubuntu-latest' }}
	strategy:
	fail-fast: false
	matrix:
	job: [0, 1]
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: true
	- uses: ./.github/workflows/setup-with-retry
	- name: Cache test routes
	id: dependency-cache
	uses: ./.github/workflows/auto-cache
	with:
	path: .ci_cache/comma_download_cache
	key: car_models-${{ 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
	timeout-minutes: 20
	run: \|
	${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
	chmod -R 777 /tmp/comma_download_cache"
	env:
	NUM_JOBS: 2
	JOB_ID: ${{ matrix.job }}
	- name: "Upload coverage to Codecov"
	uses: codecov/codecov-action@v4
	with:
	name: ${{ github.job }}-${{ matrix.job }}
	env:
	CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

	car_docs_diff:
	name: PR comments
	runs-on: ubuntu-latest
	if: github.event_name == 'pull_request'
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: true
	ref: ${{ github.event.pull_request.base.ref }}
	- run: git lfs pull
	- uses: ./.github/workflows/setup-with-retry
	- name: Get base car info
	run: \|
	${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs"
	sudo chown -R $USER:$USER ${{ github.workspace }}
	- uses: actions/checkout@v4
	with:
	submodules: true
	path: current
	- run: cd current && git lfs pull
	- name: Save car docs diff
	id: save_diff
	run: \|
	cd current
	${{ env.RUN }} "scons -j$(nproc)"
	output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs")
	output="${output//$'\n'/'%0A'}"
	echo "::set-output name=diff::$output"
	- name: Find comment
	if: ${{ env.AZURE_TOKEN != '' }}
	uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e
	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@71345be0265236311c031f5c7866368bd1eff043
	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@v7
	with:
	script: \|
	github.rest.issues.deleteComment({
	owner: context.repo.owner,
	repo: context.repo.repo,
	comment_id: ${{ steps.fc.outputs.comment-id }}
	})

	create_ui_report:
	# This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
	name: Create UI Report
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v4
	with:
	submodules: true
	- uses: ./.github/workflows/setup-with-retry
	- name: Build openpilot
	run: ${{ env.RUN }} "scons -j$(nproc)"
	- name: Create Test Report
	run: >
	${{ env.RUN }} "PYTHONWARNINGS=ignore &&
	source selfdrive/test/setup_xvfb.sh &&
	python selfdrive/ui/tests/test_ui/run.py"
	- name: Upload Test Report
	uses: actions/upload-artifact@v4
	with:
	name: report-${{ github.event.number }}
	path: selfdrive/ui/tests/test_ui/report_1/screenshots

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process replay: use zst #82621

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