Remove non-EON panda build (#671)

* Remove non-EON panda build * missed that * fixup readme * more readme * simplify ci * add USB command to disable heartbeat checks in debug mode * clean that up too * more cleanup * fix path * disable heartbeat in set_safety_mode * more red * remove one more EON ref
2021-06-21 13:54:09 -07:00 · 2021-06-21 13:54:09 -07:00 · 78c24982a9
parent 4c57ebd928
commit 78c24982a9
11 changed files with 72 additions and 218 deletions
--- a/3
+++ b/3
@ -63,9 +63,6 @@ RUN pip install --upgrade pip==18.0
 COPY requirements.txt /tmp/
 RUN pip install -r /tmp/requirements.txt

-RUN mkdir -p /home/batman
-ENV HOME /home/batman
-
 ENV PYTHONPATH /tmp:$PYTHONPATH

 RUN cd /tmp && git clone https://github.com/commaai/panda_jungle.git
--- a/44
+++ b/44
@ -1,13 +1,7 @@
 pipeline {
  agent any
  environment {
-    AUTHOR = """${sh(
-                returnStdout: true,
-                script: "git --no-pager show -s --format='%an' ${GIT_COMMIT}"
-             ).trim()}"""
-
    DOCKER_IMAGE_TAG = "panda:build-${env.GIT_COMMIT}"
-    DOCKER_NAME = "panda-test-${env.GIT_COMMIT}"
  }
  stages {
    stage('Build Docker Image') {
@ -20,41 +14,21 @@ pipeline {
        }
      }
    }
-    stage('Test Dev Build') {
+    stage('HITL tests') {
      steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
-          timeout(time: 60, unit: 'MINUTES') {
+        lock(resource: "pandas", inversePrecedence: true, quantity: 1) {
+          timeout(time: 20, unit: 'MINUTES') {
            script {
-              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; scons; ./run_automated_tests.sh'"
-              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
-              sh "docker rm ${env.DOCKER_NAME}"
+              sh "docker run --rm --privileged \
+                    --volume /dev/bus/usb:/dev/bus/usb \
+                    --volume /var/run/dbus:/var/run/dbus \
+                    --net host \
+                    ${env.DOCKER_IMAGE_TAG} \
+                    bash -c 'cd /tmp/panda && scons && ./tests/automated/test.sh'"
            }
          }
        }
      }
    }
-    stage('Test EON Build') {
-      steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
-          timeout(time: 60, unit: 'MINUTES') {
-            script {
-              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'touch /EON; cd /tmp/panda; scons; ./run_automated_tests.sh'"
-              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_eon.xml"
-              sh "docker rm ${env.DOCKER_NAME}"
-            }
-          }
-        }
-      }
-    }
-  }
-  post {
-    failure {
-      script {
-        sh "docker rm ${env.DOCKER_NAME} || true"
-      }
-    }
-    always {
-      junit "test_results*.xml"
-    }
  }
 }
--- a/README.md
+++ b/README.md
@ -58,10 +58,13 @@ As a universal car interface, it should support every reasonable software interf

 ## Directory structure

- board      -- Code that runs on the STM32
- drivers    -- Drivers (not needed for use with python)
- python     -- Python userspace library for interfacing with the panda
- tests      -- Tests and helper programs for panda
+```
+.
+├── board           # Code that runs on the STM32
+├── drivers         # Drivers (not needed for use with python)
+├── python          # Python userspace library for interfacing with the panda
+├── tests           # Tests and helper programs for panda
+```

 ## Programming

@ -79,20 +82,19 @@ Safety modes optionally supports `controls_allowed`, which allows or blocks a su

 ## Code Rigor

-When compiled from a comma device, the panda FW is configured and optimized (at compile time) for its use in
-conjuction with [openpilot](https://github.com/commaai/openpilot). The panda FW, through its safety model, provides and enforces the
+The panda firmware is written for its use in conjuction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
 [openpilot safety](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.

 These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place:
 * A generic static code analysis is performed by [cppcheck](https://github.com/danmar/cppcheck/).
 * In addition, [cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
-* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced on board and pedal Makefiles.
+* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced.
 * The [safety logic](https://github.com/commaai/panda/tree/master/board/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/tests/safety) for each supported car variant.
 * A recorded drive for each supported car variant is [replayed through the safety logic](https://github.com/commaai/panda/tree/master/tests/safety_replay)
 to ensure that the behavior remains unchanged.
 * An internal Hardware-in-the-loop test, which currently only runs on pull requests opened by comma.ai's organization members, verifies the following functionalities:
-    * compiling the code in various configuration and flashing it both through USB.
-    * Receiving, sending and forwarding CAN messages on all buses, over USB.
+    * compiling the code and flashing it through USB.
+    * receiving, sending, and forwarding CAN messages on all buses, over USB.

 In addition, we run the [pylint](https://www.pylint.org/) and [flake8](https://github.com/PyCQA/flake8) linters on all python files within the panda repo.

--- a/board/SConscript
+++ b/board/SConscript
@ -1,10 +1,6 @@
 import os
 import subprocess

-EON = os.path.isfile('/EON')
-TICI = os.path.isfile('/TICI')
-PC = not (EON or TICI)
-
 PREFIX = "arm-none-eabi-"
 BUILDER = "DEV"

@ -36,10 +32,6 @@ else:
    "-g",
  ]

-  if not PC:
-    PROJECT_FLAGS += ["-DEON"]
-    BUILDER = "EON"
-

 def get_version(builder, build_type):
  version_file = File('../VERSION').srcnode().abspath
--- a/board/boards/white.h
+++ b/board/boards/white.h
@ -78,13 +78,6 @@ void white_set_gps_mode(uint8_t mode) {
      set_gpio_output(GPIOC, 14, 0);
      set_gpio_output(GPIOC, 5, 0);
      break;
-#ifndef EON
-    case GPS_ENABLED:
-      // ESP ON
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      break;
-#endif
    case GPS_BOOTMODE:
      set_gpio_output(GPIOC, 14, 1);
      set_gpio_output(GPIOC, 5, 0);
@ -158,71 +151,8 @@ uint32_t white_read_current(void){
  return adc_get(ADCCHAN_CURRENT);
 }

-uint32_t marker = 0;
 void white_usb_power_mode_tick(uint32_t uptime){
-
-  // on EON or BOOTSTUB, no state machine
-#if !defined(BOOTSTUB) && !defined(EON)
-  #define CURRENT_THRESHOLD 0xF00U
-  #define CLICKS 5U // 5 seconds to switch modes
-
-  uint32_t current = white_read_current();
-
-  // ~0x9a = 500 ma
-  // puth(current); puts("\n");
-
-  switch (usb_power_mode) {
-    case USB_POWER_CLIENT:
-      if ((uptime - marker) >= CLICKS) {
-        if (!is_enumerated) {
-          puts("USBP: didn't enumerate, switching to CDP mode\n");
-          // switch to CDP
-          white_set_usb_power_mode(USB_POWER_CDP);
-          marker = uptime;
-        }
-      }
-      // keep resetting the timer if it's enumerated
-      if (is_enumerated) {
-        marker = uptime;
-      }
-      break;
-    case USB_POWER_CDP:
-      // been CLICKS clicks since we switched to CDP
-      if ((uptime - marker) >= CLICKS) {
-        // measure current draw, if positive and no enumeration, switch to DCP
-        if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
-          puts("USBP: no enumeration with current draw, switching to DCP mode\n");
-          white_set_usb_power_mode(USB_POWER_DCP);
-          marker = uptime;
-        }
-      }
-      // keep resetting the timer if there's no current draw in CDP
-      if (current >= CURRENT_THRESHOLD) {
-        marker = uptime;
-      }
-      break;
-    case USB_POWER_DCP:
-      // been at least CLICKS clicks since we switched to DCP
-      if ((uptime - marker) >= CLICKS) {
-        // if no current draw, switch back to CDP
-        if (current >= CURRENT_THRESHOLD) {
-          puts("USBP: no current draw, switching back to CDP mode\n");
-          white_set_usb_power_mode(USB_POWER_CDP);
-          marker = uptime;
-        }
-      }
-      // keep resetting the timer if there's current draw in DCP
-      if (current < CURRENT_THRESHOLD) {
-        marker = uptime;
-      }
-      break;
-    default:
-      puts("USB power mode invalid\n");  // set_usb_power_mode prevents assigning invalid values
-      break;
-  }
-#else
  UNUSED(uptime);
-#endif
 }

 void white_set_ir_power(uint8_t percentage){
@ -313,7 +243,7 @@ void white_grey_common_init(void) {
  // Init usb power mode
  uint32_t voltage = adc_get_voltage();
  // Init in CDP mode only if panda is powered by 12V.
-  // Otherwise a PC would not be able to flash a standalone panda with EON build
+  // Otherwise a PC would not be able to flash a standalone panda
  if (voltage > 8000U) {  // 8V threshold
    white_set_usb_power_mode(USB_POWER_CDP);
  } else {
--- a/board/main.c
+++ b/board/main.c
@ -1,4 +1,3 @@
-//#define EON
 //#define PANDA

 // ********************* Includes *********************
@ -31,10 +30,6 @@

 #include "gpio.h"

-#ifndef EON
-#include "drivers/spi.h"
-#endif
-
 #include "power_saving.h"
 #include "safety.h"

@ -601,6 +596,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
      {
        heartbeat_counter = 0U;
        heartbeat_lost = false;
+        heartbeat_disabled = false;
        break;
      }
    // **** 0xf4: k-line/l-line 5 baud initialization
@ -626,6 +622,12 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
    case 0xf7:
      green_led_enabled = (setup->b.wValue.w != 0U);
      break;
+#ifdef ALLOW_DEBUG
+    // **** 0xf8: disable heartbeat checks
+    case 0xf8:
+      heartbeat_disabled = true;
+      break;
+#endif
    default:
      puts("NO HANDLER ");
      puth(setup->b.bRequest);
@ -635,38 +637,6 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
  return resp_len;
 }

-#ifndef EON
-int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
-  // data[0]  = endpoint
-  // data[2]  = length
-  // data[4:] = data
-  UNUSED(len);
-  int resp_len = 0;
-  switch (data[0]) {
-    case 0:
-      // control transfer
-      resp_len = usb_cb_control_msg((USB_Setup_TypeDef *)(data+4), data_out, 0);
-      break;
-    case 1:
-      // ep 1, read
-      resp_len = usb_cb_ep1_in(data_out, 0x40, 0);
-      break;
-    case 2:
-      // ep 2, send serial
-      usb_cb_ep2_out(data+4, data[2], 0);
-      break;
-    case 3:
-      // ep 3, send CAN
-      usb_cb_ep3_out(data+4, data[2], 0);
-      break;
-    default:
-      puts("SPI data invalid");
-      break;
-  }
-  return resp_len;
-}
-#endif
-
 // ***************************** main code *****************************

 // cppcheck-suppress unusedFunction ; used in headers not included in cppcheck
@ -679,9 +649,9 @@ void __attribute__ ((noinline)) enable_fpu(void) {
  SCB->CPACR |= ((3UL << (10U * 2U)) | (3UL << (11U * 2U)));
 }

-// go into SILENT when the EON does not send a heartbeat for this amount of seconds.
-#define EON_HEARTBEAT_IGNITION_CNT_ON 5U
-#define EON_HEARTBEAT_IGNITION_CNT_OFF 2U
+// go into SILENT when heartbeat isn't received for this amount of seconds.
+#define HEARTBEAT_IGNITION_CNT_ON 5U
+#define HEARTBEAT_IGNITION_CNT_OFF 2U

 // called at 8Hz
 uint8_t loop_counter = 0U;
@ -724,40 +694,39 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
        heartbeat_counter += 1U;
      }

-      #ifdef EON
-      // check heartbeat counter if we are running EON code.
-      // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
-      if (heartbeat_counter >= (check_started() ? EON_HEARTBEAT_IGNITION_CNT_ON : EON_HEARTBEAT_IGNITION_CNT_OFF)) {
-        puts("EON hasn't sent a heartbeat for 0x");
-        puth(heartbeat_counter);
-        puts(" seconds. Safety is set to SILENT mode.\n");
-        if (current_safety_mode != SAFETY_SILENT) {
-          set_safety_mode(SAFETY_SILENT, 0U);
-        }
-        if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
-          set_power_save_state(POWER_SAVE_STATUS_ENABLED);
+      if (!heartbeat_disabled) {
+        // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
+        if (heartbeat_counter >= (check_started() ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {
+          puts("device hasn't sent a heartbeat for 0x");
+          puth(heartbeat_counter);
+          puts(" seconds. Safety is set to SILENT mode.\n");
+          if (current_safety_mode != SAFETY_SILENT) {
+            set_safety_mode(SAFETY_SILENT, 0U);
+          }
+          if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
+            set_power_save_state(POWER_SAVE_STATUS_ENABLED);
+          }
+
+          // set flag to indicate the heartbeat was lost
+          heartbeat_lost = true;
+
+          // Also disable IR when the heartbeat goes missing
+          current_board->set_ir_power(0U);
+
+          // If enumerated but no heartbeat (phone up, boardd not running), turn the fan on to cool the device
+          if(usb_enumerated()){
+            current_board->set_fan_power(50U);
+          } else {
+            current_board->set_fan_power(0U);
+          }
        }

-        // set flag to indicate the heartbeat was lost
-        heartbeat_lost = true;
-
-        // Also disable IR when the heartbeat goes missing
-        current_board->set_ir_power(0U);
-
-        // If enumerated but no heartbeat (phone up, boardd not running), turn the fan on to cool the device
-        if(usb_enumerated()){
-          current_board->set_fan_power(50U);
-        } else {
-          current_board->set_fan_power(0U);
+        // enter CDP mode when car starts to ensure we are charging a turned off EON
+        if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
+          current_board->set_usb_power_mode(USB_POWER_CDP);
        }
      }

-      // enter CDP mode when car starts to ensure we are charging a turned off EON
-      if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
-        current_board->set_usb_power_mode(USB_POWER_CDP);
-      }
-      #endif
-
      // check registers
      check_registers();

@ -854,10 +823,6 @@ int main(void) {
  // enable CAN TXs
  current_board->enable_can_transceivers(true);

-#ifndef EON
-  spi_init();
-#endif
-
  // 8hz
  timer_init(TIM9, 183);
  NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
--- a/board/main_declarations.h
+++ b/board/main_declarations.h
@ -14,5 +14,6 @@ bool is_enumerated = 0;
 uint32_t heartbeat_counter = 0;
 uint32_t uptime_cnt = 0;
 bool heartbeat_lost = false;
+bool heartbeat_disabled = false;
 bool siren_enabled = false;
 bool green_led_enabled = false;
--- a/python/init.py
+++ b/python/init.py
@ -420,8 +420,10 @@ class Panda(object):
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
    time.sleep(0.2)

-  def set_safety_mode(self, mode=SAFETY_SILENT):
+  def set_safety_mode(self, mode=SAFETY_SILENT, disable_heartbeat=True):
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, 0, b'')
+    if disable_heartbeat:
+      self.set_heartbeat_disabled()

  def set_can_forwarding(self, from_bus, to_bus):
    # TODO: This feature may not work correctly with saturated buses
@ -619,6 +621,11 @@ class Panda(object):
  def send_heartbeat(self):
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf3, 0, 0, b'')

+  # disable heartbeat checks for use outside of openpilot
+  # sending a heartbeat will reenable the checks
+  def set_heartbeat_disabled(self):
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xf8, 0, 0, b'')
+
  # ******************* RTC *******************
  def set_datetime(self, dt):
    self._handle.controlWrite(Panda.REQUEST_OUT, 0xa1, int(dt.year), 0, b'')
--- a/run_automated_tests.sh
+++ b/run_automated_tests.sh
@ -1,17 +0,0 @@
-#!/bin/bash -e
-TEST_FILENAME=${TEST_FILENAME:-nosetests.xml}
-if [ -f "/EON" ]; then
-  TESTSUITE_NAME="Panda_Test-EON"
-else
-  TESTSUITE_NAME="Panda_Test-DEV"
-fi
-
-TEST_SCRIPTS=$(ls tests/automated/$1*.py)
-
-IFS=$'\n'
-for NAME in $(nmcli --fields NAME con show | grep panda | awk '{$1=$1};1')
-do
-  nmcli connection delete "$NAME"
-done
-
-PYTHONPATH="." $(which nosetests) -v --with-xunit --xunit-file=./$TEST_FILENAME --xunit-testsuite-name=$TESTSUITE_NAME -s $TEST_SCRIPTS
--- a/tests/automated/test.sh
+++ b/tests/automated/test.sh
@ -0,0 +1,3 @@
+#!/bin/bash -e
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+$(which nosetests) -v -s $(ls $DIR/$1*.py)
--- a/tests/misra/test_misra.sh
+++ b/tests/misra/test_misra.sh
@ -8,7 +8,7 @@ mkdir /tmp/misra || true
 #python tests/misra/cppcheck/addons/misra.py -generate-table > tests/misra/coverage_table

 printf "\nPANDA CODE\n"
-cppcheck -DPANDA -UPEDAL -DCAN3 -DUID_BASE -DEON \
+cppcheck -DPANDA -UPEDAL -DCAN3 -DUID_BASE \
         --suppressions-list=suppressions.txt \
         --dump --enable=all --inline-suppr --force \
         $PANDA_DIR/board/main.c 2>/tmp/misra/cppcheck_output.txt