Integrate containerd setup and parallelize CI jobs

* **Setup containerd and lazy loading:**
  - Add steps to set up containerd using `ghaction-setup-containerd` in `setup-with-retry/action.yaml` and `setup/action.yaml`
  - Add steps to use lazy loading with eStargz in `setup-with-retry/action.yaml` and `setup/action.yaml`

* **Parallelize CI jobs:**
  - Add steps to run `setup-with-retry` and build openpilot in parallel in `compile-openpilot/action.yaml` and `selfdrive_tests.yaml`

.github/workflows/compile-openpilot/action.yaml

@@ -19,3 +19,33 @@ runs:
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+    - name: Run setup-with-retry in parallel
+      run: |
+        jobs:
+          setup1:
+            runs-on: ubuntu-latest
+            steps:
+              - uses: ./.github/workflows/setup-with-retry
+          setup2:
+            runs-on: ubuntu-latest
+            steps:
+              - uses: ./.github/workflows/setup-with-retry
+          setup3:
+            runs-on: ubuntu-latest
+            steps:
+              - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot in parallel
+      run: |
+        jobs:
+          build1:
+            runs-on: ubuntu-latest
+            steps:
+              - uses: ./.github/workflows/compile-openpilot
+          build2:
+            runs-on: ubuntu-latest
+            steps:
+              - uses: ./.github/workflows/compile-openpilot
+          build3:
+            runs-on: ubuntu-latest
+            steps:
+              - uses: ./.github/workflows/compile-openpilot

.github/workflows/selfdrive_tests.yaml

@@ -379,3 +379,43 @@ jobs:
         with:
           name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots
+
+  parallel_setup_with_retry:
+    name: Parallel setup-with-retry
+    runs-on: ubuntu-latest
+    steps:
+    - name: Run setup-with-retry in parallel
+      run: |
+        jobs:
+          setup1:
+            runs-on: ubuntu-latest
+            steps:
+              - uses: ./.github/workflows/setup-with-retry
+          setup2:
+            runs-on: ubuntu-latest
+            steps:
+              - uses: ./.github/workflows/setup-with-retry
+          setup3:
+            runs-on: ubuntu-latest
+            steps:
+              - uses: ./.github/workflows/setup-with-retry
+
+  parallel_build_openpilot:
+    name: Parallel build openpilot
+    runs-on: ubuntu-latest
+    steps:
+    - name: Build openpilot in parallel
+      run: |
+        jobs:
+          build1:
+            runs-on: ubuntu-latest
+            steps:
+              - uses: ./.github/workflows/compile-openpilot
+          build2:
+            runs-on: ubuntu-latest
+            steps:
+              - uses: ./.github/workflows/compile-openpilot
+          build3:
+            runs-on: ubuntu-latest
+            steps:
+              - uses: ./.github/workflows/compile-openpilot

.github/workflows/setup-with-retry/action.yaml

@@ -13,6 +13,21 @@ inputs:
 runs:
   using: "composite"
   steps:
+    - name: Set up containerd
+      uses: crazy-max/ghaction-setup-containerd@v1
+      with:
+        containerd-version: '1.5.5'
+
+    - name: Use lazy loading with eStargz
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y fuse-overlayfs
+        sudo mkdir -p /etc/containerd
+        echo "version = 2" | sudo tee /etc/containerd/config.toml
+        echo "[plugins.\"io.containerd.grpc.v1.cri\".containerd.runtimes.runc.options]" | sudo tee -a /etc/containerd/config.toml
+        echo "  SystemdCgroup = true" | sudo tee -a /etc/containerd/config.toml
+        sudo systemctl restart containerd
+
     - id: setup1
       uses: ./.github/workflows/setup
       continue-on-error: true
@@ -35,10 +50,3 @@ runs:
       uses: ./.github/workflows/setup
       with:
         is_retried: true
-    - name: Cache Python dependencies
-      uses: actions/cache@v4
-      with:
-        path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
-        restore-keys: |
-          ${{ runner.os }}-pip-

.github/workflows/setup/action.yaml

@@ -51,23 +51,24 @@ runs:
       run: |
         find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
         find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
-    # build our docker image
-    - shell: bash
-      run: eval ${{ env.BUILD }}
 
-    # restore Python dependencies cache
-    - name: Restore Python dependencies cache
-      uses: actions/cache@v4
+    # set up containerd using ghaction-setup-containerd
+    - name: Set up containerd
+      uses: crazy-max/ghaction-setup-containerd@v1
       with:
-        path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
-        restore-keys: |
-          ${{ runner.os }}-pip-
+        containerd-version: '1.5.5'
 
-    # save Python dependencies cache
-    - name: Save Python dependencies cache
-      if: always()
-      uses: actions/cache@v4
-      with:
-        path: ~/.cache/pip
-        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+    # use lazy loading of compatible eStargz Docker image "pages"
+    - name: Use lazy loading with eStargz
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y fuse-overlayfs
+        sudo mkdir -p /etc/containerd
+        echo "version = 2" | sudo tee /etc/containerd/config.toml
+        echo "[plugins.\"io.containerd.grpc.v1.cri\".containerd.runtimes.runc.options]" | sudo tee -a /etc/containerd/config.toml
+        echo "  SystemdCgroup = true" | sudo tee -a /etc/containerd/config.toml
+        sudo systemctl restart containerd
+
+    # build our docker image
+    - shell: bash
+      run: eval ${{ env.BUILD }}