[RSDK-3154] Switch to BuildJet for arm64 action runners (#2387)

viamrobotics · May 19, 2023 · b367244 · b367244
1 parent 1c80984
commit b367244
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Showing 9 changed files with 45 additions and 35 deletions.
diff --git a/.github/actionlint.yml b/.github/actionlint.yml
@@ -2,3 +2,13 @@ self-hosted-runner:
   labels:
     - qemu-host
     - pi4
+    - buildjet-2vcpu-ubuntu-2204
+    - buildjet-4vcpu-ubuntu-2204
+    - buildjet-8vcpu-ubuntu-2204
+    - buildjet-16vcpu-ubuntu-2204
+    - buildjet-32vcpu-ubuntu-2204
+    - buildjet-2vcpu-ubuntu-2204-arm
+    - buildjet-4vcpu-ubuntu-2204-arm
+    - buildjet-8vcpu-ubuntu-2204-arm
+    - buildjet-16vcpu-ubuntu-2204-arm
+    - buildjet-32vcpu-ubuntu-2204-arm
diff --git a/.github/workflows/appimage.yml b/.github/workflows/appimage.yml
@@ -2,6 +2,10 @@ name: Build AppImage
 
 on:
   workflow_dispatch:
+    inputs:
+      release_type:
+        required: true
+        type: string
   workflow_call:
     inputs:
       release_type:
@@ -15,12 +19,13 @@ jobs:
   appimage:
     name: AppImage Build
     strategy:
+      fail-fast: false
       matrix:
         include:
           - arch: [x64, qemu-host]
             image: ghcr.io/viamrobotics/canon:amd64-cache
             platform: linux/amd64
-          - arch: [arm64, qemu-host]
+          - arch: [buildjet-8vcpu-ubuntu-2204-arm]
             image: ghcr.io/viamrobotics/canon:arm64-cache
             platform: linux/arm64
     runs-on: ${{ matrix.arch }}
@@ -35,15 +40,12 @@ jobs:
     - name: Check out code
       if: github.event_name == 'workflow_dispatch' || github.event_name == 'push'
       uses: actions/checkout@v3
-      with:
-        fetch-depth: 2
 
     - name: Check out PR branch code
       if: github.event_name == 'pull_request_target'
       uses: actions/checkout@v3
       with:
         ref: ${{ github.event.pull_request.head.sha }}
-        fetch-depth: 2
 
     - name: Clean and Fix Permissions
       run: |
@@ -114,8 +116,9 @@ jobs:
     name: AppImage Test
     if: github.event_name == 'workflow_dispatch' || github.event_name == 'push'
     strategy:
+      fail-fast: false
       matrix:
-        arch: [[x64, qemu-host], [arm64, qemu-host], [arm64, pi4]]
+        arch: [[x64, qemu-host], [buildjet-2vcpu-ubuntu-2204-arm], [arm64, pi4]]
     needs: appimage
     runs-on: ${{ matrix.arch }}
     timeout-minutes: 15
@@ -131,6 +134,9 @@ jobs:
 
     - name: Test AppImage
       run: |
+        if echo "${{ matrix.arch[0] }}" | grep -q buildjet; then
+          sudo apt-get install -y libfuse2
+        fi
         channel="${{ github.ref_name }}"
         # we call our main branch releases "latest"
         if [ "$channel" = "main" ]; then

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -23,7 +23,7 @@ jobs:
             image: ghcr.io/viamrobotics/canon:amd64
             platform: linux/amd64
             make_target: 'canon-cache-amd64-ci'
-          - arch: [arm64, qemu-host]
+          - arch: [buildjet-8vcpu-ubuntu-2204-arm]
             image: ghcr.io/viamrobotics/canon:arm64
             platform: linux/arm64
             make_target: 'canon-cache-arm64-ci'
@@ -60,7 +60,7 @@ jobs:
             image: ghcr.io/viamrobotics/canon:amd64
             platform: linux/amd64
             make_target: 'antique-cache-amd64-ci'
-          - arch: [arm64, qemu-host]
+          - arch: [buildjet-8vcpu-ubuntu-2204-arm]
             image: ghcr.io/viamrobotics/canon:arm64
             platform: linux/arm64
             make_target: 'antique-cache-arm64-ci'

diff --git a/.github/workflows/motion-benchmarks.yml b/.github/workflows/motion-benchmarks.yml
@@ -19,15 +19,12 @@ jobs:
     - name: Check out main branch code
       if: github.event_name != 'pull_request_target'
       uses: actions/checkout@v3
-      with:
-        fetch-depth: 2
 
     - name: Check out PR branch code
       if: github.event_name == 'pull_request_target'
       uses: actions/checkout@v3
       with:
         ref: ${{ github.event.pull_request.head.sha }}
-        fetch-depth: 2
 
     - name: Check out code in motion-testing repository
       uses: actions/checkout@v3

diff --git a/.github/workflows/npm-publish.yml b/.github/workflows/npm-publish.yml
@@ -10,7 +10,7 @@ on:
 jobs:
   publish:
     if: github.repository_owner == 'viamrobotics'
-    runs-on: [self-hosted, x64]
+    runs-on: [x64, qemu-host]
     container:
       image: ghcr.io/viamrobotics/canon:amd64-cache
 

diff --git a/.github/workflows/staticbuild.yml b/.github/workflows/staticbuild.yml
@@ -2,6 +2,10 @@ name: Build Semi-Static Binary
 
 on:
   workflow_dispatch:
+    inputs:
+      release_type:
+        required: true
+        type: string
   workflow_call:
     inputs:
       release_type:
@@ -15,12 +19,13 @@ jobs:
   static:
     name: Antique Build
     strategy:
+      fail-fast: false
       matrix:
         include:
           - arch: [x64, qemu-host]
             image: ghcr.io/viamrobotics/antique:amd64-cache
             platform: linux/amd64
-          - arch: [arm64, qemu-host]
+          - arch: [buildjet-8vcpu-ubuntu-2204-arm]
             image: ghcr.io/viamrobotics/antique:arm64-cache
             platform: linux/arm64
     runs-on: ${{ matrix.arch }}
@@ -35,15 +40,12 @@ jobs:
     - name: Check out code
       if: github.event_name == 'workflow_dispatch' || github.event_name == 'push'
       uses: actions/checkout@v3
-      with:
-        fetch-depth: 2
 
     - name: Check out PR branch code
       if: github.event_name == 'pull_request_target'
       uses: actions/checkout@v3
       with:
         ref: ${{ github.event.pull_request.head.sha }}
-        fetch-depth: 2
 
     - name: Clean and Fix Permissions
       run: |
@@ -114,8 +116,9 @@ jobs:
     name: Static Test
     if: github.event_name == 'workflow_dispatch' || github.event_name == 'push'
     strategy:
+      fail-fast: false
       matrix:
-        arch: [[x64, qemu-host], [arm64, qemu-host], [arm64, pi4]]
+        arch: [[x64, qemu-host], [buildjet-2vcpu-ubuntu-2204-arm], [arm64, pi4]]
     needs: static
     runs-on: ${{ matrix.arch }}
     timeout-minutes: 15

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -14,16 +14,17 @@ jobs:
   build_and_test:
     name: Build and Test
     strategy:
+      fail-fast: false
       matrix:
         include:
           - arch: [x64, qemu-host]
             image: ghcr.io/viamrobotics/canon:amd64-cache
             platform: linux/amd64
-            build_lint: 'make build lint'
-          - arch: [arm64, qemu-host]
+            test_cmd: "make cover test-web"
+          - arch: [buildjet-8vcpu-ubuntu-2204-arm]
             image: ghcr.io/viamrobotics/canon:arm64-cache
             platform: linux/arm64
-            build_lint: 'make build-go lint-go'
+            test_cmd: "make test-go test-web"
     runs-on: ${{ matrix.arch }}
     container:
       image: ${{ matrix.image }}
@@ -34,8 +35,6 @@ jobs:
     - name: Check out code
       if: github.event_name != 'pull_request_target'
       uses: actions/checkout@v3
-      with:
-        fetch-depth: 2
 
     - name: Check out PR branch code
       if: github.event_name == 'pull_request_target'
@@ -60,12 +59,12 @@ jobs:
         echo "GITHUB_X_PR_BASE_SHA=${{ github.event.pull_request.base.sha }}" >> $GITHUB_ENV
         echo "GITHUB_X_PR_BASE_REF=${{ github.event.pull_request.base.ref }}" >> $GITHUB_ENV
 
-    - name: Verify no uncommitted changes from "${{ matrix.build_lint }}"
+    - name: Verify no uncommitted changes from "make build lint"
       run: |
         git init
         git add .
         chown -R testbot:testbot .
-        sudo -Hu testbot bash -lc '${{ matrix.build_lint }}'
+        sudo -Hu testbot bash -lc 'make build lint'
         GEN_DIFF=$(git status -s)
 
         if [ -n "$GEN_DIFF" ]; then
@@ -75,9 +74,8 @@ jobs:
         fi
 
     - name: Test
-      if: matrix.platform == 'linux/amd64'
       run: |
-        sudo --preserve-env=MONGODB_TEST_OUTPUT_URI,GITHUB_SHA,GITHUB_RUN_ID,GITHUB_RUN_NUMBER,GITHUB_RUN_ATTEMPT,GITHUB_X_PR_BASE_SHA,GITHUB_X_PR_BASE_REF,GITHUB_X_HEAD_REF,GITHUB_X_HEAD_SHA,GITHUB_REPOSITORY -Hu testbot bash -lc 'make cover test-web'
+        sudo --preserve-env=MONGODB_TEST_OUTPUT_URI,GITHUB_SHA,GITHUB_RUN_ID,GITHUB_RUN_NUMBER,GITHUB_RUN_ATTEMPT,GITHUB_X_PR_BASE_SHA,GITHUB_X_PR_BASE_REF,GITHUB_X_HEAD_REF,GITHUB_X_HEAD_SHA,GITHUB_REPOSITORY -Hu testbot bash -lc '${{ matrix.test_cmd }}'
 
     # Now that RDK is public, can't directly comment without token having full read/write access
     # code-coverage-comment.yml will trigger seperately and post the actual comments
@@ -120,15 +118,12 @@ jobs:
     - name: Check out main branch code
       if: github.event_name != 'pull_request_target'
       uses: actions/checkout@v3
-      with:
-        fetch-depth: 2
 
     - name: Check out PR branch code
       if: github.event_name == 'pull_request_target'
       uses: actions/checkout@v3
       with:
         ref: ${{ github.event.pull_request.head.sha }}
-        fetch-depth: 2
 
     - name: Test
       run: make test-pi
@@ -143,15 +138,12 @@ jobs:
       - name: Check out main branch code
         if: github.event_name != 'pull_request_target'
         uses: actions/checkout@v3
-        with:
-          fetch-depth: 2
 
       - name: Check out PR branch code
         if: github.event_name == 'pull_request_target'
         uses: actions/checkout@v3
         with:
           ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: 2
 
       - name: Install dependencies
         run: |

diff --git a/components/board/pi/impl/board_test.go b/components/board/pi/impl/board_test.go
@@ -4,6 +4,7 @@ package piimpl
 
 import (
 	"context"
+	"os"
 	"testing"
 	"time"
 
@@ -30,8 +31,8 @@ func TestPiPigpio(t *testing.T) {
 	resourceConfig := resource.Config{ConvertedAttributes: &cfg}
 
 	pp, err := newPigpio(ctx, board.Named("foo"), resourceConfig, logger)
-	if err != nil && err.Error() == "not running on a pi" {
-		t.Skip("not running on a pi")
+	if os.Getuid() != 0 || err != nil && err.Error() == "not running on a pi" {
+		t.Skip("not running as root on a pi")
 		return
 	}
 	test.That(t, err, test.ShouldBeNil)

diff --git a/components/board/pi/impl/external_hardware_test.go b/components/board/pi/impl/external_hardware_test.go
@@ -4,6 +4,7 @@ package piimpl
 
 import (
 	"context"
+	"os"
 	"testing"
 	"time"
 
@@ -40,8 +41,8 @@ func TestPiHardware(t *testing.T) {
 	resourceConfig := resource.Config{ConvertedAttributes: &cfg}
 
 	pp, err := newPigpio(ctx, board.Named("foo"), resourceConfig, logger)
-	if err != nil && err.Error() == "not running on a pi" {
-		t.Skip("not running on a pi")
+	if os.Getuid() != 0 || err != nil && err.Error() == "not running on a pi" {
+		t.Skip("not running as root on a pi")
 		return
 	}
 	test.That(t, err, test.ShouldBeNil)