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- def phone(String ip, String step_label, String cmd) {
- withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
- def ssh_cmd = """
- ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
- set -e
- export CI=1
- export TEST_DIR=${env.TEST_DIR}
- export SOURCE_DIR=${env.SOURCE_DIR}
- export GIT_BRANCH=${env.GIT_BRANCH}
- export GIT_COMMIT=${env.GIT_COMMIT}
- export AZURE_TOKEN='${env.AZURE_TOKEN}'
- export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
- source ~/.bash_profile
- if [ -f /TICI ]; then
- source /etc/profile
- fi
- ln -snf ${env.TEST_DIR} /data/pythonpath
- cd ${env.TEST_DIR} || true
- ${cmd}
- exit 0
- END"""
- sh script: ssh_cmd, label: step_label
- }
- }
- def phone_steps(String device_type, steps) {
- lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
- timeout(time: 20, unit: 'MINUTES') {
- phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
- steps.each { item ->
- phone(device_ip, item[0], item[1])
- }
- }
- }
- }
- pipeline {
- agent none
- environment {
- CI = "1"
- TEST_DIR = "/data/openpilot"
- SOURCE_DIR = "/data/openpilot_source/"
- AZURE_TOKEN = credentials('azure_token')
- MAPBOX_TOKEN = credentials('mapbox_token')
- }
- options {
- timeout(time: 3, unit: 'HOURS')
- disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
- }
- stages {
- stage('build release3') {
- agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
- when {
- branch 'devel-staging'
- }
- steps {
- phone_steps("tici-needs-can", [
- ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
- ])
- }
- }
- stage('openpilot tests') {
- when {
- not {
- anyOf {
- branch 'master-ci'; branch 'devel'; branch 'devel-staging';
- branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
- branch 'testing-closet*'; branch 'hotfix-*'
- }
- }
- }
- parallel {
- stage('simulator') {
- agent {
- dockerfile {
- filename 'Dockerfile.sim_nvidia'
- dir 'tools/sim'
- args '--user=root'
- }
- }
- steps {
- sh "git config --global --add safe.directory ${WORKSPACE}"
- sh "git lfs pull"
- lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
- sh "${WORKSPACE}/tools/sim/build_container.sh"
- sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
- sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
- }
- }
- post {
- always {
- sh "docker kill carla_sim || true"
- sh "rm -rf ${WORKSPACE}/* || true"
- sh "rm -rf .* || true"
- }
- }
- }
- stage('build') {
- agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
- environment {
- R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
- }
- steps {
- phone_steps("tici-needs-can", [
- ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
- ["build openpilot", "cd selfdrive/manager && ./build.py"],
- ["check dirty", "release/check-dirty.sh"],
- ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
- ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
- ])
- }
- }
- stage('loopback-tests') {
- agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
- steps {
- phone_steps("tici-loopback", [
- ["build openpilot", "cd selfdrive/manager && ./build.py"],
- ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
- ])
- }
- }
- stage('HW + Unit Tests') {
- agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
- steps {
- phone_steps("tici-common", [
- ["build", "cd selfdrive/manager && ./build.py"],
- ["test power draw", "python system/hardware/tici/test_power_draw.py"],
- ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
- ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
- ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
- ["test manager", "python selfdrive/manager/test/test_manager.py"],
- ])
- }
- }
- stage('camerad-ar') {
- agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
- steps {
- phone_steps("tici-ar0321", [
- ["build", "cd selfdrive/manager && ./build.py"],
- ["test camerad", "python system/camerad/test/test_camerad.py"],
- ["test exposure", "python system/camerad/test/test_exposure.py"],
- ])
- }
- }
- stage('camerad-ox') {
- agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
- steps {
- phone_steps("tici-ox03c10", [
- ["build", "cd selfdrive/manager && ./build.py"],
- ["test camerad", "python system/camerad/test/test_camerad.py"],
- ["test exposure", "python system/camerad/test/test_exposure.py"],
- ])
- }
- }
- stage('sensord') {
- agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
- steps {
- phone_steps("tici-lsmc", [
- ["build", "cd selfdrive/manager && ./build.py"],
- ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
- ])
- phone_steps("tici-bmx-lsm", [
- ["build", "cd selfdrive/manager && ./build.py"],
- ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
- ])
- }
- }
- stage('replay') {
- agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
- steps {
- phone_steps("tici-common", [
- ["build", "cd selfdrive/manager && ./build.py"],
- ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
- ])
- }
- }
- }
- }
- }
- }
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