run-simulators.yml

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 }}
            GH_REF: ${{ github.ref }}
          run: |
            echo "$PRIVATE_KEY" > private_key && chmod 600 private_key
            ssh -o StrictHostKeyChecking=no -o SendEnv=GH_REF -i private_key ${USER_NAME}@${HOSTNAME} '
              cd /home/ubuntu/actions/ &&
              rm -rf Scenic &&
              git clone --branch $(basename "$GH_REF") --single-branch https://$GH_ACCESS_TOKEN@github.com/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."