Metadrive: run integration test in jenkins

.github/workflows/selfdrive_tests.yaml

@@ -13,7 +13,6 @@ concurrency:
 env:
   PYTHONWARNINGS: error
   BASE_IMAGE: openpilot-base
-  CL_BASE_IMAGE: openpilot-base-cl
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -236,25 +235,20 @@ jobs:
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
-    - name: Build base Docker image
-      run: eval "$BUILD"
-    - name: Build Docker image
-      # Sim docker is needed to get the OpenCL drivers
-      run: eval "$BUILD_CL"
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
       timeout-minutes: 3
       run: |
-        ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
                            ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                            coverage xml"
     - name: Run unit tests
       timeout-minutes: 4
       run: |
-        ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
                            $UNIT_TEST selfdrive/modeld && \
                            coverage xml"
     - name: "Upload coverage to Codecov"

.github/workflows/tools_tests.yaml

@@ -12,18 +12,12 @@ concurrency:
 
 env:
   BASE_IMAGE: openpilot-base
-  CL_BASE_IMAGE: openpilot-base-cl
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
 
   BUILD: selfdrive/test/docker_build.sh base
 
   RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
-  BUILD_CL: selfdrive/test/docker_build.sh cl
-
-  RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
-
-
 jobs:
   plotjuggler:
     name: plotjuggler

Dockerfile.openpilot_base

@@ -41,4 +41,9 @@ RUN cd /tmp && \
     rm -rf /home/$USER/.cache
 
 USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot
+RUN sudo git config --global --add safe.directory /tmp/openpilot
+
+# Install PortableCL
+RUN apt update && \
+    apt install -y pocl-opencl-icd && \
+    rm -rf /var/lib/apt/lists/*

Jenkinsfile

@@ -226,6 +226,12 @@ node {
           sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
         }
       },
+      'simulation tests': {
+        pcStage("simulation tests") {
+          sh "scons -j30"
+          sh label: "test_metadrive_bridge.py", script: "PYTHONWARNINGS=default PYTHONPATH=$WORKSPACE python tools/sim/tests/test_metadrive_bridge.py"
+        }
+      },
 
     )
     }