From 4cbf965165bab44dcf819aaafbd2d99c89994c97 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 12 Sep 2020 14:31:20 -0700
Subject: [PATCH] fix simulator CI (#2159)

* pull image for cache

* typo

* cleanup dockerfile

* typo

* add pr trigger

* colon?
---
 .github/workflows/sim_tests.yaml |  8 +++---
 tools/sim/Dockerfile.sim         | 45 ++++++++++++--------------------
 2 files changed, 21 insertions(+), 32 deletions(-)

diff --git a/.github/workflows/sim_tests.yaml b/.github/workflows/sim_tests.yaml
index 772c562a..eaf8d335 100644
--- a/.github/workflows/sim_tests.yaml
+++ b/.github/workflows/sim_tests.yaml
@@ -1,14 +1,14 @@
 name: simulator
 on:
-  schedule:
-  - cron: '0 * * * *'
+  push:
+  pull_request:
 
 jobs:
   docker_build:
     name: build container
     runs-on: ubuntu-16.04
     timeout-minutes: 50
-    if: github.event_name == 'schedule' && github.repository == 'commaai/openpilot'
+    if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v2
       with:
@@ -16,8 +16,10 @@ jobs:
         lfs: true
     - name: Docker build
       run: |
+        docker pull commaai/openpilot-sim:latest || true
         tools/sim/build_container.sh
     - name: Push to dockerhub
+      if: github.ref == 'refs/heads/master'
       run: |
         docker login -u wmelching -p ${{ secrets.COMMA_DOCKERHUB_TOKEN }}
         docker tag commaai/openpilot-sim docker.io/commaai/openpilot-sim:latest
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
index df316034..6ef0cf69 100644
--- a/tools/sim/Dockerfile.sim
+++ b/tools/sim/Dockerfile.sim
@@ -1,10 +1,5 @@
 FROM commaai/openpilot-base:latest
-#Carla
 
-COPY ./tools/sim/install_carla.sh /tmp
-RUN /tmp/install_carla.sh
-
-#Intel openCL- run openCL on CPU
 RUN apt-get update && apt-get install -y \
     apt-utils \
     unzip \
@@ -15,7 +10,6 @@ RUN apt-get update && apt-get install -y \
     beignet-opencl-icd \
 
     alien \
-    clinfo \
     dbus \
     gcc-arm-none-eabi \
     tmux \
@@ -30,44 +24,32 @@ RUN apt-get update && apt-get install -y \
     libpng16-16 \
   && rm -rf /var/lib/apt/lists/*
 
-
+# Intel OpenCL driver
 ARG INTEL_DRIVER=opencl_runtime_16.1.1_x64_ubuntu_6.4.0.25.tgz
 ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/9019
 RUN mkdir -p /tmp/opencl-driver-intel
 WORKDIR /tmp/opencl-driver-intel
 RUN echo INTEL_DRIVER is $INTEL_DRIVER; \
     curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER; \
-    if echo $INTEL_DRIVER | grep -q "[.]zip$"; then \
-        unzip $INTEL_DRIVER; \
-        mkdir fakeroot; \
-        for f in intel-opencl-*.tar.xz; do tar -C fakeroot -Jxvf $f; done; \
-        cp -R fakeroot/* /; \
-        ldconfig; \
-    else \
-        tar -xzf $INTEL_DRIVER; \
-        for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done; \
-        dpkg -i *.deb; \
-        rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb; \
-        mkdir -p /etc/OpenCL/vendors; \
-        echo /opt/intel/*/lib64/libintelocl.so > /etc/OpenCL/vendors/intel.icd; \
-    fi; \
+    tar -xzf $INTEL_DRIVER; \
+    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done; \
+    dpkg -i *.deb; \
+    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb; \
+    mkdir -p /etc/OpenCL/vendors; \
+    echo /opt/intel/*/lib64/libintelocl.so > /etc/OpenCL/vendors/intel.icd; \
     rm -rf /tmp/opencl-driver-intel;
 
-
-#Open[GL,CL] for gpu
+# Open[GL,CL] for gpu
 ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES},display
 RUN apt-get update && apt-get install -y --no-install-recommends \
-        mesa-utils \
-        ocl-icd-libopencl1 \
-        clinfo && \
-    rm -rf /var/lib/apt/lists/*
+      mesa-utils \
+      ocl-icd-libopencl1 \
+    && rm -rf /var/lib/apt/lists/*
 RUN mkdir -p /etc/OpenCL/vendors && \
     echo "libnvidia-opencl.so.1" > /etc/OpenCL/vendors/nvidia.icd
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES compute,utility,display
 
-#Python
-ENV PYTHONPATH $HOME/openpilot:${PYTHONPATH}
 RUN dbus-uuidgen > /etc/machine-id
 
 # we can apt-get after moving to a newer ubuntu
@@ -80,10 +62,15 @@ RUN git clone --branch="0.1.1" https://github.com/NVIDIA/libglvnd.git . && \
 
 ENV LD_LIBRARY_PATH /usr/local/lib/x86_64-linux-gnu:/usr/local/lib/i386-linux-gnu${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
 
+# CARLA python api
+COPY ./tools/sim/install_carla.sh /tmp
+RUN /tmp/install_carla.sh
+
 # get same tmux config used on NEOS for debugging
 RUN cd $HOME && \
     wget https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf
 
+ENV PYTHONPATH $HOME/openpilot:${PYTHONPATH}
 RUN mkdir -p $HOME/openpilot
 
 COPY SConstruct $HOME/openpilot/