jungle HITL tests setup (#1665)

* setup new zoo

* run

* fix

---------

Co-authored-by: Bruce Wayne <batman@comma.ai>

Jenkinsfile

@@ -99,7 +99,6 @@ pipeline {
           }
         }
 
-        /*
         stage ('Acquire resource locks') {
           options {
             lock(resource: "pandas")
@@ -115,15 +114,16 @@ pipeline {
                 }
               }
             }
-            stage('prep') {
+            stage('jungle tests') {
               steps {
                 script {
                   retry (3) {
-                    docker_run("reset hardware", 3, "python ./tests/ci_reset_hw.py")
+                    docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py")
                   }
                 }
               }
             }
+            /*
             stage('pedal tests') {
               steps {
                 script {
@@ -146,9 +146,9 @@ pipeline {
                 }
               }
             }
+            */
           }
         }
-        */
       }
     }
   }

python/constants.py

@@ -11,6 +11,7 @@ class McuConfig(NamedTuple):
   mcu: str
   mcu_idcode: int
   sector_sizes: List[int]
+  sector_count: int  # total sector count, used for MCU identification in DFU mode
   uid_address: int
   block_size: int
   serial_number_address: int
@@ -32,13 +33,14 @@ Fx = (
   0x8000000,
   "bootstub.panda.bin",
 )
-F2Config = McuConfig("STM32F2", 0x411, [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(7)], *Fx)
-F4Config = McuConfig("STM32F4", 0x463, [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)], *Fx)
+F2Config = McuConfig("STM32F2", 0x411, [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(7)], 12, *Fx)
+F4Config = McuConfig("STM32F4", 0x463, [0x4000 for _ in range(4)] + [0x10000] + [0x20000 for _ in range(11)], 16, *Fx)
 
 H7Config = McuConfig(
   "STM32H7",
   0x483,
   [0x20000 for _ in range(7)],
+  8,
   0x1FF1E800,
   0x400,
   # there is an 8th sector, but we use that for the provisioning chunk, so don't program over that!

python/usb.py

@@ -34,13 +34,14 @@ class STBootloaderUSBHandle(BaseSTBootloaderHandle):
   def __init__(self, libusb_device, libusb_handle):
     self._libusb_handle = libusb_handle
 
-    # lsusb -v | grep Flash
+    # example from F4: lsusb -v | grep Flash
     # iInterface  4 @Internal Flash  /0x08000000/04*016Kg,01*064Kg,011*128Kg
-    out = libusb_handle.controlRead(0x80, 0x06, 0x0300 | 4, 0, 255)
-    flash_desc = bytes(out[2:]).decode('utf-16le')
-    sector_count = sum([int(s.split('*')[0]) for s in flash_desc.split('/')[-1].split(',')])
-
-    mcu_by_sector_count = {len(m.config.sector_sizes): m for m in McuType}
+    for i in range(20):
+      desc = libusb_handle.getStringDescriptor(i, 0)
+      if desc is not None and desc.startswith("@Internal Flash"):
+        sector_count = sum([int(s.split('*')[0]) for s in desc.split('/')[-1].split(',')])
+        break
+    mcu_by_sector_count = {m.config.sector_count: m for m in McuType}
     assert sector_count in mcu_by_sector_count, f"Unkown MCU: {sector_count=}"
     self._mcu_type = mcu_by_sector_count[sector_count]
 

tests/ci_reset_hw.py

@@ -1,56 +0,0 @@
-#!/usr/bin/env python3
-import concurrent.futures
-
-from panda import Panda, PandaDFU, PandaJungle
-from panda.tests.libs.resetter import Resetter
-
-# all jungles used in the HITL tests
-JUNGLES = [
-  "058010800f51363038363036",
-  "23002d000851393038373731"
-]
-
-
-# Reset + flash all CI hardware to get it into a consistent state
-# * ports 1-2 are jungles
-# * port 3 is for the USB hubs
-if __name__ == "__main__":
-  r = Resetter()
-
-  r.enable_boot(True)
-  r.cycle_power(delay=7, ports=[1, 2, 3])
-  r.enable_boot(False)
-
-  pandas = PandaDFU.list()
-  print("DFU pandas:", pandas)
-  assert len(pandas) == 7
-
-  with concurrent.futures.ProcessPoolExecutor(max_workers=len(pandas)) as exc:
-    def recover(serial):
-      PandaDFU(serial).recover()
-    list(exc.map(recover, pandas, timeout=20))
-
-  r.cycle_power(delay=7, ports=[1, 2])
-
-  pandas = Panda.list()
-  print(pandas)
-  assert len(pandas) >= 7
-
-  with concurrent.futures.ProcessPoolExecutor(max_workers=len(pandas)) as exc:
-    def flash(serial):
-      with Panda(serial) as pf:
-        if pf.bootstub:
-          pf.flash()
-    list(exc.map(flash, pandas, timeout=20))
-
-  print("flashing jungle")
-  # flash jungles
-  pjs = PandaJungle.list()
-  assert set(pjs) == set(JUNGLES), f"Got different jungles than expected:\ngot      {set(pjs)}\nexpected {set(JUNGLES)}"
-  for s in pjs:
-    with PandaJungle(serial=s) as pj:
-      print(f"- flashing {s}")
-      pj.flash()
-
-  r.cycle_power(delay=0, ports=[1, 2])
-  r.close()

tests/hitl/reset_jungles.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+import concurrent.futures
+
+from panda import PandaJungle, PandaJungleDFU, McuType
+from panda.tests.libs.resetter import Resetter
+
+def recover(s):
+  with PandaJungleDFU(s) as pd:
+    pd.recover()
+
+def flash(s):
+  with PandaJungle(s) as p:
+    p.flash()
+    return p.get_mcu_type()
+
+# Reset + flash all CI hardware to get it into a consistent state
+# * port 1: jungles-under-test
+# * port 2: USB hubs
+# * port 3: HITL pandas and their jungles
+if __name__ == "__main__":
+  with Resetter() as r:
+    # everything off
+    for i in range(1, 4):
+      r.enable_power(i, 0)
+    r.cycle_power(ports=[1, 2], dfu=True)
+
+    dfu_serials = PandaJungleDFU.list()
+    assert len(dfu_serials) == 2
+
+    with concurrent.futures.ProcessPoolExecutor(max_workers=len(dfu_serials)) as exc:
+      list(exc.map(recover, dfu_serials, timeout=30))
+
+      # power cycle for H7 bootloader bug
+      r.cycle_power(ports=[1, 2])
+
+      serials = PandaJungle.list()
+      assert len(serials) == len(dfu_serials)
+      mcu_types = list(exc.map(flash, serials, timeout=20))
+      assert set(mcu_types) == {McuType.F4, McuType.H7}

tests/libs/resetter.py

@@ -7,6 +7,12 @@ class Resetter():
     self._handle = None
     self.connect()
 
+  def __enter__(self):
+    return self
+
+  def __exit__(self, *args):
+    self.close()
+
   def close(self):
     self._handle.close()
     self._context.close()
@@ -36,16 +42,16 @@ class Resetter():
   def enable_boot(self, enabled):
     self._handle.controlWrite((usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE), 0xff, 0, enabled, b'')
 
-  def cycle_power(self, delay=5, ports=None):
+  def cycle_power(self, delay=5, dfu=False, ports=None):
     if ports is None:
       ports = [1, 2, 3]
 
+    self.enable_boot(dfu)
     for port in ports:
       self.enable_power(port, False)
-
-    time.sleep(1)
+    time.sleep(0.5)
 
     for port in ports:
       self.enable_power(port, True)
-
     time.sleep(delay)
+    self.enable_boot(False)