Add pedal tests to CI (#680)

* Add pedal tests to CI

* Organized as unittest

* Linter and imports

* Ignore 'none' serials

* Force into DFU

* Check in softloader mode

* Pin jungle commit

* Add silent mode to pedal

* Move pedal serial to const

* split CIs

* full path to canhandle

* Revert adding silent mode to pedal

* improve

* increase timeout pedal test

Dockerfile

@@ -65,6 +65,9 @@ RUN pip install -r /tmp/requirements.txt
 
 ENV PYTHONPATH /tmp:$PYTHONPATH
 
-RUN cd /tmp && git clone https://github.com/commaai/panda_jungle.git
+RUN cd /tmp && git clone https://github.com/commaai/panda_jungle.git && \
+    cd panda_jungle && \
+    git fetch && \
+    git checkout 7b7197c605915ac34f3d62f314edd84e2e78a759
 
 ADD ./panda.tar.gz /tmp/panda

Jenkinsfile

@@ -14,6 +14,22 @@ pipeline {
         }
       }
     }
+    stage('PEDAL tests') {
+      steps {
+        lock(resource: "pedal", inversePrecedence: true, quantity: 1) {
+          timeout(time: 10, unit: 'MINUTES') {
+            script {
+              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 && PEDAL_JUNGLE=23002d000851393038373731 python ./tests/pedal/test_pedal.py'"
+            }
+          }
+        }
+      }
+    }
     stage('HITL tests') {
       steps {
         lock(resource: "pandas", inversePrecedence: true, quantity: 1) {
@@ -24,7 +40,7 @@ pipeline {
                     --volume /var/run/dbus:/var/run/dbus \
                     --net host \
                     ${env.DOCKER_IMAGE_TAG} \
-                    bash -c 'cd /tmp/panda && scons && ./tests/automated/test.sh'"
+                    bash -c 'cd /tmp/panda && scons && PANDAS_JUNGLE=058010800f51363038363036 ./tests/automated/test.sh'"
             }
           }
         }

board/SConscript

@@ -17,6 +17,8 @@ if os.getenv("PEDAL"):
     "-O2",
     "-DPEDAL",
   ]
+  if os.getenv("PEDAL_USB"):
+    PROJECT_FLAGS.append("-DPEDAL_USB")
 
 else:
   PROJECT = "panda"

tests/automated/helpers.py

@@ -1,3 +1,4 @@
+import os
 import time
 import random
 import _thread
@@ -15,12 +16,14 @@ BUS_SPEEDS = [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL), (3, SPEED
 TIMEOUT = 45
 GEN2_HW_TYPES = [Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO]
 GPS_HW_TYPES = [Panda.HW_TYPE_GREY_PANDA, Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO]
+PEDAL_SERIAL = 'none'
+JUNGLE_SERIAL = os.getenv("PANDAS_JUNGLE")
 
 # Enable fault debug
 faulthandler.enable(all_threads=False)
 
 # Connect to Panda Jungle
-panda_jungle = PandaJungle()
+panda_jungle = PandaJungle(JUNGLE_SERIAL)
 
 # Find all panda's connected
 _panda_serials = None
@@ -44,7 +47,7 @@ test_all_types = parameterized([
     param(panda_type=Panda.HW_TYPE_UNO)
   ])
 test_all_pandas = parameterized(
-    list(map(lambda x: x[0], _panda_serials))  # type: ignore
+    list(map(lambda x: x[0], filter(lambda x: x[0] != PEDAL_SERIAL, _panda_serials)))  # type: ignore
   )
 test_all_gen2_pandas = parameterized(
     list(map(lambda x: x[0], filter(lambda x: x[1] in GEN2_HW_TYPES, _panda_serials)))  # type: ignore

tests/pedal/canhandle.py

@@ -0,0 +1,42 @@
+import struct
+import signal
+
+
+class CanHandle(object):
+  def __init__(self, p, bus):
+    self.p = p
+    self.bus = bus
+
+  def transact(self, dat):
+    self.p.isotp_send(1, dat, self.bus, recvaddr=2)
+
+    def _handle_timeout(signum, frame):
+      # will happen on reset
+      raise Exception("timeout")
+
+    signal.signal(signal.SIGALRM, _handle_timeout)
+    signal.alarm(1)
+    try:
+      ret = self.p.isotp_recv(2, self.bus, sendaddr=1)
+    finally:
+      signal.alarm(0)
+
+    return ret
+
+  def controlWrite(self, request_type, request, value, index, data, timeout=0):
+    # ignore data in reply, panda doesn't use it
+    return self.controlRead(request_type, request, value, index, 0, timeout)
+
+  def controlRead(self, request_type, request, value, index, length, timeout=0):
+    dat = struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length)
+    return self.transact(dat)
+
+  def bulkWrite(self, endpoint, data, timeout=0):
+    if len(data) > 0x10:
+      raise ValueError("Data must not be longer than 0x10")
+    dat = struct.pack("HH", endpoint, len(data)) + data
+    return self.transact(dat)
+
+  def bulkRead(self, endpoint, length, timeout=0):
+    dat = struct.pack("HH", endpoint, 0)
+    return self.transact(dat)

tests/pedal/enter_canloader.py

@@ -1,47 +1,9 @@
 #!/usr/bin/env python3
 import time
-import struct
 import argparse
-import signal
 from panda import Panda
+from panda.tests.pedal.canhandle import CanHandle
 
-class CanHandle(object):
-  def __init__(self, p):
-    self.p = p
-
-  def transact(self, dat):
-    self.p.isotp_send(1, dat, 0, recvaddr=2)
-
-    def _handle_timeout(signum, frame):
-      # will happen on reset
-      raise Exception("timeout")
-
-    signal.signal(signal.SIGALRM, _handle_timeout)
-    signal.alarm(1)
-    try:
-      ret = self.p.isotp_recv(2, 0, sendaddr=1)
-    finally:
-      signal.alarm(0)
-
-    return ret
-
-  def controlWrite(self, request_type, request, value, index, data, timeout=0):
-    # ignore data in reply, panda doesn't use it
-    return self.controlRead(request_type, request, value, index, 0, timeout)
-
-  def controlRead(self, request_type, request, value, index, length, timeout=0):
-    dat = struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length)
-    return self.transact(dat)
-
-  def bulkWrite(self, endpoint, data, timeout=0):
-    if len(data) > 0x10:
-      raise ValueError("Data must not be longer than 0x10")
-    dat = struct.pack("HH", endpoint, len(data)) + data
-    return self.transact(dat)
-
-  def bulkRead(self, endpoint, length, timeout=0):
-    dat = struct.pack("HH", endpoint, 0)
-    return self.transact(dat)
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='Flash pedal over can')
@@ -66,6 +28,6 @@ if __name__ == "__main__":
     time.sleep(0.1)
     print("flashing", args.fn)
     code = open(args.fn, "rb").read()
-    Panda.flash_static(CanHandle(p), code)
+    Panda.flash_static(CanHandle(p, 0), code)
 
   print("can flash done")

tests/pedal/test_pedal.py

@@ -0,0 +1,64 @@
+import os
+import time
+import subprocess
+import unittest
+from panda import Panda, BASEDIR
+from panda_jungle import PandaJungle  # pylint: disable=import-error
+from panda.tests.pedal.canhandle import CanHandle
+
+
+JUNGLE_SERIAL = os.getenv("PEDAL_JUNGLE")
+PEDAL_SERIAL = 'none'
+PEDAL_BUS = 1
+
+class TestPedal(unittest.TestCase):
+  
+  def setUp(self):
+    self.jungle = PandaJungle(JUNGLE_SERIAL)
+    self.jungle.set_panda_power(True)
+    self.jungle.set_ignition(False)
+
+  def tearDown(self):
+    self.jungle.close()
+
+  def _flash_over_can(self, bus, fw_file):
+    print(f"Flashing {fw_file}")
+    while len(self.jungle.can_recv()) != 0:
+      continue
+    self.jungle.can_send(0x200, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", bus)
+
+    time.sleep(0.1)
+    with open(fw_file, "rb") as code:
+      PandaJungle.flash_static(CanHandle(self.jungle, bus), code.read())
+
+  def _listen_can_frames(self):
+    self.jungle.can_clear(0xFFFF)
+    msgs = 0
+    for _ in range(10):
+      incoming = self.jungle.can_recv()
+      for message in incoming:
+        address, _, _, bus = message
+        if address == 0x201 and bus == PEDAL_BUS:
+          msgs += 1
+      time.sleep(0.1)
+    return msgs
+
+  def test_usb_fw(self):
+    subprocess.check_output(f"cd {BASEDIR} && PEDAL=1 PEDAL_USB=1 scons", shell=True)
+    self._flash_over_can(PEDAL_BUS, f"{BASEDIR}board/obj/pedal.bin.signed")
+    time.sleep(2)
+    p = Panda(PEDAL_SERIAL)
+    self.assertTrue(p.is_pedal())
+    p.close()
+    self.assertTrue(self._listen_can_frames() > 40)
+
+  def test_nonusb_fw(self):
+    subprocess.check_output(f"cd {BASEDIR} && PEDAL=1 scons", shell=True)
+    self._flash_over_can(PEDAL_BUS, f"{BASEDIR}board/obj/pedal.bin.signed")
+    time.sleep(2)
+    self.assertTrue(PEDAL_SERIAL not in Panda.list())
+    self.assertTrue(self._listen_can_frames() > 40)
+
+
+if __name__ == '__main__':
+  unittest.main()