working action.

.github/workflows/main.yml

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+name: kumar's testing_closet
+on:
+  push:
+    branches-ignore:
+      - 'testing-closet*'
+  pull_request:
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+
+  DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+  UNIT_TEST: coverage run --append -m unittest discover
+
+jobs:
+  build_release:
+    name: build release
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    env:
+      STRIPPED_DIR: tmppilot
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Strip non-release files
+      run: |
+        mkdir $STRIPPED_DIR
+        cp -pR --parents $(cat release/files_common) $STRIPPED_DIR
+        cp Dockerfile.openpilot_base $STRIPPED_DIR
+
+        # need this to build on x86
+        cp -pR --parents phonelibs/libyuv phonelibs/snpe selfdrive/modeld/runners $STRIPPED_DIR
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Build openpilot and run checks
+      run: |
+          cd $STRIPPED_DIR
+          ${{ env.RUN }} "cd /tmp/openpilot && \
+                          scons -j$(nproc) && \
+                          python -m unittest discover selfdrive/car"
+
+  static_analysis:
+    name: static analysis
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: pre-commit
+      run: ${{ env.RUN }} "cd /tmp/openpilot/ && git init && git add -A && pre-commit run --all"
+
+  valgrind:
+    name: valgrind
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: /tmp/comma_download_cache
+        key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/test_valgrind_replay.py') }}
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Run valgrind
+      run: |
+        ${{ env.RUN }} "cd /tmp/openpilot && \
+                        scons -j$(nproc) && \
+                        FILEREADER_CACHE=1 python selfdrive/test/test_valgrind_replay.py"
+    - name: Print logs
+      if: always()
+      run: cat selfdrive/test/valgrind_logs.txt
+
+  unit_tests:
+    name: unit tests
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Run unit tests
+      run: |
+        ${{ env.RUN }} "cd /tmp/openpilot && \
+                        scons -j$(nproc) && \
+                        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/monitoring && \
+                        $UNIT_TEST selfdrive/loggerd && \
+                        $UNIT_TEST selfdrive/car && \
+                        $UNIT_TEST selfdrive/locationd && \
+                        $UNIT_TEST selfdrive/athena && \
+                        $UNIT_TEST selfdrive/thermald && \
+                        $UNIT_TEST tools/lib/tests"
+    - name: Upload coverage to Codecov
+      run: bash <(curl -s https://codecov.io/bash) -v -F unit_tests
+
+  test_longitudinal:
+    name: longitudinal
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Test longitudinal
+      run: |
+        ${{ env.RUN }} "mkdir -p /tmp/openpilot/selfdrive/test/out && \
+                        cd /tmp/openpilot/ && \
+                        scons -j$(nproc) && \
+                        cd selfdrive/test/longitudinal_maneuvers && \
+                        ./test_longitudinal.py"
+    - uses: actions/upload-artifact@v2
+      if: always()
+      continue-on-error: true
+      with:
+        name: longitudinal
+        path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/
+
+  test_car_models:
+    name: car models
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: /tmp/comma_download_cache
+        key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/test_car_models.py') }}
+    - name: Build Docker image
+      run: eval "$BUILD"
+    - name: Test car models
+      run: |
+        ${{ env.RUN }} "cd /tmp/openpilot && \
+                        scons -j$(nproc) && \
+                        FILEREADER_CACHE=1 coverage run --parallel-mode -m nose --processes=4 --process-timeout=60 \
+                                           selfdrive/test/test_models.py && \
+                        coverage combine"
+    - name: Upload coverage to Codecov
+      run: bash <(curl -s https://codecov.io/bash) -v -F test_car_models

.pre-commit-config.yaml

@@ -0,0 +1,47 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: master
+    hooks:
+    -   id: check-ast
+    -   id: check-json
+    -   id: check-xml
+    -   id: check-yaml
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: master
+    hooks:
+    -   id: mypy
+        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/'
+        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs']
+-   repo: https://github.com/PyCQA/flake8
+    rev: master
+    hooks:
+    -   id: flake8
+        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)|(selfdrive/debug)/'
+        args:
+        - --select=F,E112,E113,E304,E501,E502,E701,E702,E703,E71,E72,E731,W191,W6
+        - --max-line-length=240
+        - --statistics
+-   repo: local
+    hooks:
+    -   id: pylint
+        name: pylint
+        entry: pylint
+        language: system
+        types: [python]
+        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
+-   repo: local
+    hooks:
+    -   id: cppcheck
+        name: cppcheck
+        entry: cppcheck
+        language: system
+        types: [c++]
+        exclude: '^(phonelibs)|(external)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)'
+        args:
+        - --error-exitcode=1
+        - --language=c++
+        - --quiet
+        - --force
+        - -j8