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wip: Do openpilot ci build in a cached ubuntu chroot instead of docker.
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,41 @@ | ||
| name: 'build and mount an ubuntu chroot for openpilot ci.' | ||
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| runs: | ||
| using: "composite" | ||
| steps: | ||
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| - name: Calculate Cache Key | ||
| id: cache-key | ||
| shell: bash | ||
| run: echo "CACHE_KEY=chroot-${{ hashFiles('tools/build_ci_chroot.sh') }}" >> $GITHUB_ENV | ||
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| - name: Restore cache | ||
| id: restore-cache | ||
| uses: 'actions/cache/restore@v4' | ||
| with: | ||
| path: /tmp/chroot.squashfs | ||
| key: ${{ env.CACHE_KEY }} | ||
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| - name: Rebuild chroot | ||
| if: steps.restore-cache.outputs.cache-hit != 'true' | ||
| shell: bash | ||
| run: | | ||
| sudo bash -c "GITHUB_WORKSPACE=$GITHUB_WORKSPACE ./tools/build_ci_chroot.sh" | ||
| - name: Cache chroot | ||
| if: steps.restore-cache.outputs.cache-hit != 'true' | ||
| uses: actions/cache/save@v4 | ||
| with: | ||
| path: /tmp/chroot.squashfs | ||
| key: ${{ env.CACHE_KEY }} | ||
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| - name: Mount chroot | ||
| shell: bash | ||
| run: | | ||
| mkdir /tmp/chroot | ||
| mkdir /tmp/.chroot_lower | ||
| mkdir /tmp/.chroot_upper | ||
| mkdir /tmp/.chroot_work | ||
| sudo mount -t squashfs /tmp/chroot.squashfs /tmp/.chroot_lower | ||
| sudo mount -t overlay overlay -o lowerdir=/tmp/.chroot_lower,upperdir=/tmp/.chroot_upper,workdir=/tmp/.chroot_work /tmp/chroot | ||
| sudo mount --bind "$GITHUB_WORKSPACE" /tmp/chroot/tmp/openpilot |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,128 @@ | ||
| #!/usr/bin/env bash | ||
| set -eux | ||
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| apt-get update | ||
| apt-get install -y debootstrap squashfs-tools | ||
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| mkdir /tmp/chroot | ||
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| # Install ubuntu into a chroot for us to later install our dependencies into. | ||
| debootstrap --variant=minbase noble /tmp/chroot http://archive.ubuntu.com/ubuntu | ||
| # The devices cause untar issues and we don't need them. | ||
| rm -rf /tmp/chroot/dev/* | ||
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| cat <<EOF > /tmp/chroot/etc/apt/sources.list | ||
| deb http://archive.ubuntu.com/ubuntu noble main | ||
| deb http://archive.ubuntu.com/ubuntu noble universe | ||
| deb http://archive.ubuntu.com/ubuntu noble multiverse | ||
| deb http://archive.ubuntu.com/ubuntu noble restricted | ||
| EOF | ||
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| cat <<EOF >> /tmp/chroot/etc/profile | ||
| DEBIAN_FRONTEND=noninteractive | ||
| NVIDIA_VISIBLE_DEVICES=all | ||
| NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute | ||
| QTWEBENGINE_DISABLE_SANDBOX=1 | ||
| LANG=en_US.UTF-8 | ||
| LANGUAGE=en_US:en | ||
| LC_ALL=en_US.UTF-8 | ||
| PYTHONUNBUFFERED=1 | ||
| EOF | ||
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| cat <<EOF > /tmp/chroot/tmp/install-deps.sh | ||
| #!/usr/bin/env bash | ||
| set -eux | ||
| apt-get update | ||
| apt-get install -y --no-install-recommends \ | ||
| sudo \ | ||
| tzdata \ | ||
| locales \ | ||
| ssh \ | ||
| pulseaudio \ | ||
| xvfb \ | ||
| x11-xserver-utils \ | ||
| gnome-screenshot \ | ||
| apt-utils \ | ||
| alien \ | ||
| unzip \ | ||
| tar \ | ||
| curl \ | ||
| xz-utils \ | ||
| dbus \ | ||
| gcc-arm-none-eabi \ | ||
| tmux \ | ||
| vim \ | ||
| libx11-6 \ | ||
| wget | ||
| dbus-uuidgen > /etc/machine-id | ||
| sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen | ||
| locale-gen | ||
| cd /tmp/openpilot | ||
| ./tools/ubuntu_setup.sh | ||
| mkdir -p /tmp/opencl-driver-intel | ||
| cd /tmp/opencl-driver-intel | ||
| wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz | ||
| wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz | ||
| mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel | ||
| cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel | ||
| tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz | ||
| mkdir -p /etc/OpenCL/vendors | ||
| echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd | ||
| cd /opt/intel | ||
| tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz | ||
| ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 | ||
| ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 | ||
| ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 | ||
| ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 | ||
| mkdir -p /etc/ld.so.conf.d | ||
| echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf | ||
| ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf | ||
| cd / | ||
| rm -rf /tmp/opencl-driver-intel | ||
| # Remove arm architecture toolchains that we don't want. | ||
| cd /usr/lib/gcc/arm-none-eabi/* | ||
| rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp | ||
| git config --global --add safe.directory /tmp/openpilot | ||
| # Remove all tmp files except 'openpilot' directory and its contents | ||
| find /tmp -mindepth 1 -path '/tmp/openpilot' -prune -o -exec rm -rf {} + | ||
| # Remove cached apt archives. | ||
| apt clean | ||
| EOF | ||
| chmod +x /tmp/chroot/tmp/install-deps.sh | ||
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| cat <<EOF > /tmp/chroot/run_ci.sh | ||
| #!/usr/bin/env bash | ||
| set -eux | ||
| cd /tmp/openpilot | ||
| . ./.venv/bin/activate | ||
| ldd ./.venv/bin/python | ||
| ldd $(which python) | ||
| bash -c "\$1" | ||
| EOF | ||
| chmod +x /tmp/chroot/run_ci.sh | ||
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| cp /etc/resolv.conf /tmp/chroot/resolv.conf | ||
| mount --bind /proc /tmp/chroot/proc | ||
| mount --bind /sys /tmp/chroot/sys | ||
| mount --bind /dev /tmp/chroot/dev | ||
| mkdir /tmp/chroot/tmp/openpilot | ||
| mount --bind "$GITHUB_WORKSPACE" /tmp/chroot/tmp/openpilot | ||
| chroot /tmp/chroot bash /tmp/install-deps.sh | ||
| umount /tmp/chroot/tmp/openpilot | ||
| umount /tmp/chroot/proc | ||
| umount /tmp/chroot/sys | ||
| umount /tmp/chroot/dev | ||
| cd /tmp/chroot | ||
| # A squashfs is faster than docker and we don't need to decompress unused files. | ||
| mksquashfs . /tmp/chroot.squashfs -b 256k -comp zstd -Xcompression-level 1 | ||
| cd / | ||
| rm -rf /tmp/chroot |