GitHub Actions (#535)

.github/workflows/test.yaml

@@ -0,0 +1,155 @@
+name: panda tests
+on: [push, pull_request]
+
+env:
+  RUN: docker run --rm panda /bin/sh -c
+  PERSIST: docker run --name panda panda /bin/sh -c
+  LOAD: docker load -i panda.tar.gz/panda.tar.gz
+
+jobs:
+  docker_build:
+    name: docker build
+    runs-on: ubuntu-16.04
+    timeout-minutes: 30
+    steps:
+    - uses: actions/checkout@v2
+    - name: Build docker image
+      run: |
+        docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile.panda) || true
+        docker pull docker.io/commaai/panda:latest || true
+        docker build --cache-from docker.io/commaai/panda:latest -t panda -f Dockerfile.panda .
+        docker save panda:latest | gzip > panda.tar.gz
+    - uses: actions/upload-artifact@v2
+      with:
+        name: panda.tar.gz
+        path: panda.tar.gz
+
+  docker_push:
+    name: docker push
+    runs-on: ubuntu-16.04
+    timeout-minutes: 10
+    needs: docker_build
+    #if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/panda'
+    steps:
+      - uses: actions/download-artifact@v1
+        with:
+          name: panda.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 panda docker.io/commaai/panda:latest
+      - name: Push image
+        run: docker push docker.io/commaai/panda:latest
+
+  build:
+    name: build
+    runs-on: ubuntu-16.04
+    timeout-minutes: 30
+    needs: docker_build
+    steps:
+      - uses: actions/download-artifact@v1
+        with:
+          name: panda.tar.gz
+      - name: Load image
+        run: $LOAD
+      - name: Test python package installer
+        run: $RUN "cd /tmp/openpilot/panda && python setup.py install"
+      - name: Build panda STM image
+        run: $RUN "cd /tmp/openpilot/panda/board && make bin"
+      - name: Build panda STM bootstub image
+        run: $RUN "cd /tmp/openpilot/panda/board && make obj/bootstub.panda.bin"
+      - name: Build pedal STM image
+        run: $RUN "cd /tmp/openpilot/panda/board/pedal && make obj/comma.bin"
+      - name: Build pedal STM bootstub image
+        run: $RUN "cd /tmp/openpilot/panda/board/pedal && make obj/bootstub.bin"
+
+  build_esp:
+    name: build esp
+    runs-on: ubuntu-16.04
+    timeout-minutes: 40
+    steps:
+    - uses: actions/checkout@v2
+    - name: Build docker image
+      run: |
+        docker pull docker.io/commaai/panda_esp:latest || true
+        docker build --cache-from docker.io/commaai/panda_esp:latest -t panda_esp -f tests/build/Dockerfile.panda_esp .
+    - name: Build ESP image
+      run: docker run --rm panda_esp /bin/sh -c "cd /panda/boardesp && make user1.bin"
+    - name: Push image
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/panda'
+      run:  |
+        docker login -u wmelching -p ${{ secrets.DOCKERHUB_TOKEN }}
+        docker tag panda_esp docker.io/commaai/panda_esp:latest
+        docker push docker.io/commaai/panda_esp:latest
+
+  safety:
+    name: safety
+    runs-on: ubuntu-16.04
+    timeout-minutes: 10
+    needs: docker_build
+    steps:
+      - uses: actions/download-artifact@v1
+        with:
+          name: panda.tar.gz
+      - name: Load image
+        run: $LOAD
+      - name: Run safety tests
+        run: $RUN "cd /tmp/openpilot/panda/tests/safety && ./test.sh"
+
+  safety_replay:
+    name: safety replay
+    runs-on: ubuntu-16.04
+    timeout-minutes: 10
+    needs: docker_build
+    steps:
+      - uses: actions/download-artifact@v1
+        with:
+          name: panda.tar.gz
+      - name: Load image
+        run: $LOAD
+      - name: Run safety replay
+        run: $RUN "cd /tmp/openpilot/panda/tests/safety_replay && ./test_safety_replay.py"
+
+  misra:
+    name: misra c2012
+    runs-on: ubuntu-16.04
+    timeout-minutes: 10
+    needs: docker_build
+    steps:
+      - uses: actions/download-artifact@v1
+        with:
+          name: panda.tar.gz
+      - name: Load image
+        run: $LOAD
+      - name: Run Misra C 2012 analysis
+        run: $PERSIST "cd /tmp/openpilot/panda/tests/misra && ./test_misra.sh"
+      - name: Copy analysis outputs
+        run: docker cp panda:/tmp/misra /tmp
+      - uses: actions/upload-artifact@v2
+        if: always()
+        with:
+          name: cppcheck.txt
+          path: /tmp/misra/cppcheck_output.txt
+      - uses: actions/upload-artifact@v2
+        if: always()
+        with:
+          name: misra.txt
+          path: /tmp/misra/misra_output.txt
+
+  python_linter:
+    name: python linter
+    runs-on: ubuntu-16.04
+    timeout-minutes: 10
+    needs: docker_build
+    steps:
+      - uses: actions/download-artifact@v1
+        with:
+          name: panda.tar.gz
+      - name: Load image
+        run: $LOAD
+      - name: Run linters
+        run: |
+          $RUN "cd /tmp/openpilot/panda/tests/linter_python/ && ./flake8_panda.sh"
+          $RUN "cd /tmp/openpilot/panda/tests/linter_python/ && ./pylint_panda.sh"

Dockerfile.panda

@@ -0,0 +1,68 @@
+FROM ubuntu:16.04
+ENV PYTHONUNBUFFERED 1
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    autoconf \
+    automake \
+    bzip2 \
+    capnproto \
+    clang \
+    curl \
+    g++ \
+    gcc-arm-none-eabi libnewlib-arm-none-eabi \
+    git \
+    libarchive-dev \
+    libavformat-dev libavcodec-dev libavdevice-dev libavutil-dev libswscale-dev libavresample-dev libavfilter-dev \
+    libbz2-dev \
+    libcapnp-dev \
+    libcurl4-openssl-dev \
+    libffi-dev \
+    libtool \
+    libssl-dev \
+    libusb-1.0-0 \
+    libzmq3-dev \
+    locales \
+    make \
+    ncurses-dev \
+    pkg-config \
+    python \
+    python-dev \
+    python-pip \
+    unzip \
+    wget \
+    zlib1g-dev \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3 && pyenv global 3.7.3
+RUN pyenv rehash
+
+RUN pip install --no-cache-dir --upgrade pip==18.0
+
+COPY requirements.txt /tmp/
+RUN pip install --no-cache-dir -r /tmp/requirements.txt
+
+ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+
+WORKDIR /tmp
+RUN git clone https://github.com/commaai/openpilot.git || true && \
+    cd /tmp/openpilot && \
+    git pull && git checkout 44560b5bb74e451767725144c3fa5f1564481a20 && \
+    git submodule update --init cereal opendbc && \
+    rm -rf $(ls --hide="common" --hide="selfdrive" --hide="cereal" --hide="opendbc" --hide="tools" --hide="SConstruct")
+
+RUN cd /tmp/openpilot && \
+    pip install --no-cache-dir -r opendbc/requirements.txt && \
+    pip install --no-cache-dir -r tools/requirements.txt
+
+WORKDIR /tmp/openpilot
+RUN scons -c && scons -j$(nproc) opendbc/ cereal/
+
+COPY . /tmp/openpilot/panda

README.md

@@ -13,7 +13,7 @@ It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?
 
 It is 2nd gen hardware, reusing code and parts from the [NEO](https://github.com/commaai/neo) interface board.
 
-[![CircleCI](https://circleci.com/gh/commaai/panda.svg?style=svg)](https://circleci.com/gh/commaai/panda)
+![panda tests](https://github.com/commaai/panda/workflows/panda%20tests/badge.svg)
 
 Usage (Python)
 ------
@@ -99,7 +99,7 @@ When compiled from an [EON Dev Kit](https://comma.ai/shop/products/eon-gold-dash
 conjuction with [openpilot](https://github.com/commaai/openpilot). The panda FW, through its safety model, provides and enforces the
 [openpilot Safety](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
 
-These are the [CI regression tests](https://circleci.com/gh/commaai/panda) we have in place:
+These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place:
 * A generic static code analysis is performed by [Cppcheck](https://github.com/danmar/cppcheck/).
 * In addition, [Cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
 * Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced on board and pedal makefiles.

tests/build/Dockerfile → tests/build/Dockerfile.panda_esp

@@ -1,21 +1,13 @@
 FROM ubuntu:16.04
 
-RUN apt-get update && apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi python python-pip gcc g++ git autoconf gperf bison flex automake texinfo wget help2man gawk libtool libtool-bin ncurses-dev unzip unrar-free libexpat-dev sed bzip2 locales curl zlib1g-dev libffi-dev libssl-dev
+RUN apt-get update && apt-get install -y gcc-arm-none-eabi libnewlib-arm-none-eabi python python-pip gcc g++ git autoconf gperf bison flex automake texinfo wget help2man gawk libtool libtool-bin ncurses-dev unzip unrar-free libexpat-dev sed bzip2 locales curl zlib1g-dev libffi-dev libssl-dev python3 python3-pip
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
 ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 2.7.12
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-RUN pip install pycrypto==2.6.1
+RUN pip3 install pycrypto==2.6.1
 
 # Build esp toolchain
 RUN mkdir -p /panda/boardesp