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run-simulators.yml
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name: run_simulators
on:
# IMPORTANT: this workflow should only be triggered manually via the Actions
# portal of the repo!!! Do not modify this workflow's trigger!
workflow_dispatch:
jobs:
start_ec2_instance:
name: start_ec2_instance
runs-on: ubuntu-latest
concurrency:
group: sim
outputs:
volume_id: ${{ steps.create_volume_step.outputs.volume_id }}
env:
INSTANCE_ID: ${{ secrets.AWS_EC2_INSTANCE_ID }}
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
AWS_DEFAULT_REGION: ${{ secrets.AWS_REGION }}
steps:
- name: Create Volume from Latest Snapshot and Attach to Instance
id: create_volume_step
run: |
# Retrieve the latest snapshot ID
LATEST_SNAPSHOT_ID=$(aws ec2 describe-snapshots --owner-ids self --query 'Snapshots | sort_by(@, &StartTime) | [-1].SnapshotId' --output text)
echo "Checking availability for snapshot: $LATEST_SNAPSHOT_ID"
# Wait for the snapshot to complete
aws ec2 wait snapshot-completed --snapshot-ids $LATEST_SNAPSHOT_ID
echo "Snapshot is ready."
# Create a new volume from the latest snapshot
volume_id=$(aws ec2 create-volume --snapshot-id $LATEST_SNAPSHOT_ID --availability-zone us-west-1b --volume-type gp3 --size 400 --throughput 250 --query "VolumeId" --output text)
echo "Created volume with ID: $volume_id"
# Set volume_id as output
echo "volume_id=$volume_id" >> $GITHUB_OUTPUT
cat $GITHUB_OUTPUT
# Wait until the volume is available
aws ec2 wait volume-available --volume-ids $volume_id
echo "Volume is now available"
# Attach the volume to the instance
aws ec2 attach-volume --volume-id $volume_id --instance-id $INSTANCE_ID --device /dev/sda1
echo "Volume $volume_id attached to instance $INSTANCE_ID as /dev/sda1"
- name: Start EC2 Instance
run: |
# Get the instance state
instance_state=$(aws ec2 describe-instances --instance-ids $INSTANCE_ID | jq -r '.Reservations[].Instances[].State.Name')
# If the machine is stopping wait for it to fully stop
while [ "$instance_state" == "stopping" ]; do
echo "Instance is stopping, waiting for it to fully stop..."
sleep 10
instance_state=$(aws ec2 describe-instances --instance-ids $INSTANCE_ID | jq -r '.Reservations[].Instances[].State.Name')
done
# Check if instance state is "stopped"
if [[ "$instance_state" == "stopped" ]]; then
echo "Instance is stopped, starting it..."
aws ec2 start-instances --instance-ids $INSTANCE_ID
elif [[ "$instance_state" == "pending" ]]; then
echo "Instance startup is pending, continuing..."
elif [[ "$instance_state" == "running" ]]; then
echo "Instance is already running..."
exit 0
else
echo "Unknown instance state: $instance_state"
exit 1
fi
# Wait for instance status checks to pass
echo "Waiting for instance status checks to pass..."
aws ec2 wait instance-status-ok --instance-ids $INSTANCE_ID
echo "Instance is now ready for use."
check_simulator_version_updates:
name: check_simulator_version_updates
runs-on: ubuntu-latest
needs: start_ec2_instance
steps:
- name: Check for Simulator Version Updates
env:
PRIVATE_KEY: ${{ secrets.SSH_PRIVATE_KEY }}
HOSTNAME: ${{ secrets.SSH_HOST }}
USER_NAME: ${{ secrets.SSH_USERNAME }}
GH_ACCESS_TOKEN: ${{ secrets.GH_ACCESS_TOKEN }}
run: |
echo "$PRIVATE_KEY" > private_key && chmod 600 private_key
ssh -o StrictHostKeyChecking=no -i private_key ${USER_NAME}@${HOSTNAME} '
cd /home/ubuntu/actions/ &&
rm -rf Scenic &&
git clone --branch $(basename "${{ github.ref }}") --single-branch https://[email protected]/BerkeleyLearnVerify/Scenic.git &&
cd Scenic &&
python3 -m venv venv &&
source venv/bin/activate &&
python3 -m pip install -e .[test-full] &&
python3 .github/check_latest_simulators.py
'
check_nvidia_smi:
name: check_nvidia_smi
runs-on: ubuntu-latest
needs: start_ec2_instance
continue-on-error: true
steps:
- name: Check NVIDIA SMI
env:
PRIVATE_KEY: ${{ secrets.SSH_PRIVATE_KEY }}
HOSTNAME: ${{ secrets.SSH_HOST}}
USER_NAME: ${{ secrets.SSH_USERNAME}}
run: |
echo "$PRIVATE_KEY" > private_key && chmod 600 private_key
ssh -o StrictHostKeyChecking=no -i private_key ${USER_NAME}@${HOSTNAME} '
output=$(nvidia-smi)
echo "$output"
if [ -z "$output" ]; then
echo "NVIDIA Driver is not set"
exit 1
fi
'
- name: NVIDIA Driver is not set
if: ${{ failure() }}
run: |
echo "NVIDIA SMI is not working, please run the steps here on the instance:"
echo "https://scenic-lang.atlassian.net/wiki/spaces/KAN/pages/2785287/Setting+Up+AWS+VM?parentProduct=JSW&initialAllowedFeatures=byline-contributors.byline-extensions.page-comments.delete.page-reactions.inline-comments.non-licensed-share&themeState=dark%253Adark%2520light%253Alight%2520spacing%253Aspacing%2520colorMode%253Alight&locale=en-US#Install-NVIDIA-Drivers"
run_carla_simulators:
name: run_carla_simulators
runs-on: ubuntu-latest
needs: [check_simulator_version_updates, check_nvidia_smi]
steps:
- name: Run CARLA Tests
env:
PRIVATE_KEY: ${{ secrets.SSH_PRIVATE_KEY }}
HOSTNAME: ${{secrets.SSH_HOST}}
USER_NAME: ${{secrets.SSH_USERNAME}}
run: |
echo "$PRIVATE_KEY" > private_key && chmod 600 private_key
ssh -o StrictHostKeyChecking=no -o ServerAliveInterval=60 -o ServerAliveCountMax=3 -i private_key ${USER_NAME}@${HOSTNAME} '
cd /home/ubuntu/actions/Scenic &&
source venv/bin/activate &&
carla_versions=($(find /software -maxdepth 1 -type d -name 'carla*')) &&
for version in "${carla_versions[@]}"; do
echo "============================= CARLA $version ============================="
export CARLA_ROOT="$version"
pytest tests/simulators/carla
done
'
run_webots_simulators:
name: run_webots_simulators
runs-on: ubuntu-latest
needs: [check_simulator_version_updates, check_nvidia_smi]
steps:
- name: Run Webots Tests
env:
PRIVATE_KEY: ${{ secrets.SSH_PRIVATE_KEY }}
HOSTNAME: ${{secrets.SSH_HOST}}
USER_NAME: ${{secrets.SSH_USERNAME}}
run: |
echo "$PRIVATE_KEY" > private_key && chmod 600 private_key
ssh -o StrictHostKeyChecking=no -i private_key ${USER_NAME}@${HOSTNAME} '
Xvfb :99 -screen 0 1024x768x16 &
cd /home/ubuntu/actions/Scenic &&
source venv/bin/activate &&
webots_versions=($(find /software -maxdepth 1 -type d -name 'webots*')) &&
export DISPLAY=:99 &&
for version in "${webots_versions[@]}"; do
echo "============================= Webots $version ============================="
export WEBOTS_ROOT="$version"
pytest tests/simulators/webots
done
kill %1
'
stop_ec2_instance:
name: stop_ec2_instance
runs-on: ubuntu-latest
needs: [start_ec2_instance, check_simulator_version_updates, check_nvidia_smi, run_carla_simulators, run_webots_simulators]
if: always()
env:
VOLUME_ID: ${{ needs.start_ec2_instance.outputs.volume_id }}
INSTANCE_ID: ${{ secrets.AWS_EC2_INSTANCE_ID }}
AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
AWS_DEFAULT_REGION: ${{ secrets.AWS_REGION }}
steps:
- name: Stop EC2 Instance
run: |
# Get the instance state and stop it if running
instance_state=$(aws ec2 describe-instances --instance-ids $INSTANCE_ID | jq -r '.Reservations[].Instances[].State.Name')
if [[ "$instance_state" == "running" ]]; then
echo "Instance is running, stopping it..."
aws ec2 stop-instances --instance-ids $INSTANCE_ID
aws ec2 wait instance-stopped --instance-ids $INSTANCE_ID
echo "Instance has stopped."
elif [[ "$instance_state" == "stopped" ]]; then
echo "Instance is already stopped."
else
echo "Unexpected instance state: $instance_state"
exit 1
fi
- name: Detach Volume
run: |
# Detach the volume
aws ec2 detach-volume --volume-id $VOLUME_ID
aws ec2 wait volume-available --volume-ids $VOLUME_ID
echo "Volume $VOLUME_ID detached."
- name: Delete Volume
run: |
# Delete the volume after snapshot is complete
aws ec2 delete-volume --volume-id $VOLUME_ID
echo "Volume $VOLUME_ID deleted."