name: Openpilot Tests
on: [push, pull_request]

env:
  RUN: docker run --shm-size 1G --rm tmppilot /bin/sh -c
  PERSIST: docker run --shm-size 1G --name tmppilot tmppilot /bin/sh -c
  LOAD: docker load -i tmppilot.tar.gz/tmppilot.tar.gz
  CI_RUN: docker run -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID --rm tmppilotci /bin/bash -c
  UNIT_TEST: coverage run --append -m unittest discover

jobs:
  build:
    name: build
    runs-on: ubuntu-16.04
    steps:
    - uses: actions/checkout@v2
      with:
        submodules: true
    - name: Build docker image
      run: |
        docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile.openpilot) || true
        docker pull docker.io/commaai/openpilot:latest || true

        docker build --cache-from docker.io/commaai/openpilot:latest -t tmppilot -f Dockerfile.openpilot .
        docker save tmppilot:latest | gzip > tmppilot.tar.gz
    - uses: actions/upload-artifact@v2
      with:
        name: tmppilot.tar.gz
        path: tmppilot.tar.gz

  build_release:
    name: build release
    runs-on: ubuntu-16.04
    timeout-minutes: 30
    env:
      TEST_DIR: tmppilot
    steps:
    - uses: actions/checkout@v2
      with:
        submodules: true
    - name: Strip non-release files
      run: |
        mkdir $TEST_DIR
        cp -pR --parents $(cat release/files_common) $TEST_DIR
        cp Dockerfile.openpilot $TEST_DIR

        # copy submodules
        cp -pR panda/ opendbc/ cereal/ $TEST_DIR

        # need this to build on x86
        cp -pR --parents phonelibs/libyuv phonelibs/snpe \
                         external/bin selfdrive/modeld/runners $TEST_DIR

        # need these so docker copy won't fail
        cp Pipfile Pipfile.lock flake8_openpilot.sh pylint_openpilot.sh .pylintrc \
           .coveragerc-app $TEST_DIR
        cd $TEST_DIR
        mkdir pyextra laika laika_repo tools release
    - name: Build
      run: |
        cd $TEST_DIR
        docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile.openpilot) || true
        docker pull docker.io/commaai/openpilot:latest || true
        docker build --cache-from docker.io/commaai/openpilot:latest -t tmppilot -f Dockerfile.openpilot .

  push:
    name: push
    runs-on: ubuntu-16.04
    needs: build
    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
    steps:
      - uses: actions/download-artifact@v1
        with:
          name: tmppilot.tar.gz
      - name: Load image
        run: $LOAD
      - name: Login to dockerhub
        run: docker login -u wmelching -p ${{ secrets.DOCKERHUB_TOKEN }}
      - name: Tag image
        run: docker tag tmppilot docker.io/commaai/openpilot:latest
      - name: Push image
        run: docker push docker.io/commaai/openpilot:latest

  linter:
    name: linter
    runs-on: ubuntu-16.04
    needs: build
    steps:
      - uses: actions/download-artifact@v1
        with:
          name: tmppilot.tar.gz
      - name: Load image
        run: $LOAD
      - name: flake8
        run: $RUN "cd /tmp/openpilot/ && ./flake8_openpilot.sh"
      - name: pylint
        run: $RUN "cd /tmp/openpilot/ && ./pylint_openpilot.sh"

  unit_tests:
    name: unit tests
    runs-on: ubuntu-16.04
    needs: build
    steps:
      - uses: actions/download-artifact@v1
        with:
          name: tmppilot.tar.gz
      - name: Load image
        run: $LOAD
      - name: Run unit tests
        run: |
          $PERSIST "cd /tmp/openpilot && \
                    coverage run selfdrive/test/test_fingerprints.py && \
                    $UNIT_TEST common && \
                    $UNIT_TEST opendbc/can && \
                    $UNIT_TEST selfdrive/boardd && \
                    $UNIT_TEST selfdrive/controls && \
                    $UNIT_TEST selfdrive/loggerd && \
                    $UNIT_TEST selfdrive/car && \
                    $UNIT_TEST selfdrive/locationd && \
                    $UNIT_TEST selfdrive/athena && \
                    $UNIT_TEST tools/lib/tests"
      - name: Upload coverage to Codecov
        run: |
          docker commit tmppilot tmppilotci
          $CI_RUN "cd /tmp/openpilot && bash <(curl -s https://codecov.io/bash) -Z -F unit_tests"

  process_replay:
    name: process replay
    runs-on: ubuntu-16.04
    needs: build
    timeout-minutes: 30
    steps:
      - uses: actions/download-artifact@v1
        with:
          name: tmppilot.tar.gz
      - name: Load image
        run: $LOAD
      - name: Run replay
        run: |
          $PERSIST "cd /tmp/openpilot && CI=1 coverage run selfdrive/test/process_replay/test_processes.py"
      - name: Upload coverage to Codecov
        run: |
          docker commit tmppilot tmppilotci
          $CI_RUN "cd /tmp/openpilot && bash <(curl -s https://codecov.io/bash) -Z -F process_replay"
      - name: Copy diff
        if: always()
        run: |
          docker cp tmppilot:/tmp/openpilot/selfdrive/test/process_replay/diff.txt diff.txt
      - name: Print diff
        if: always()
        run: cat diff.txt
      - uses: actions/upload-artifact@v2
        if: always()
        with:
          name: process_replay_diff.txt
          path: diff.txt

  test_longitudinal:
    name: longitudinal
    runs-on: ubuntu-16.04
    needs: build
    timeout-minutes: 30
    steps:
      - uses: actions/download-artifact@v1
        with:
          name: tmppilot.tar.gz
      - name: Load image
        run: $LOAD
      - name: Test longitudinal
        run: |
          $PERSIST "cd /tmp/openpilot/selfdrive/test/longitudinal_maneuvers && OPTEST=1 ./test_longitudinal.py"
      - name: Copy artifacts
        if: always()
        run: |
          mkdir out
          docker cp tmppilot:/tmp/openpilot/selfdrive/test/longitudinal_maneuvers/out/longitudinal/ out/
      - uses: actions/upload-artifact@v2
        if: always()
        with:
          name: longitudinal
          path: out

  test_car_models:
    name: test car models
    runs-on: ubuntu-16.04
    needs: build
    timeout-minutes: 30
    steps:
      - uses: actions/download-artifact@v1
        with:
          name: tmppilot.tar.gz
      - name: Load image
        run: $LOAD
      - name: Test car models
        run: |
          $PERSIST "mkdir -p /data/params && cd /tmp/openpilot && coverage run --parallel-mode --concurrency=multiprocessing --rcfile=./.coveragerc-app selfdrive/test/test_car_models.py && coverage combine"
      - name: Upload coverage to Codecov
        run: |
          docker commit tmppilot tmppilotci
          $CI_RUN "cd /tmp/openpilot && bash <(curl -s https://codecov.io/bash) -Z -F test_car_models"