pandad unit tests (#27516)

* pandad unit tests

* only one

* in bootstub

* run in jenkins

* phone only
old-commit-hash: f7c15c1708

Jenkinsfile

@@ -161,6 +161,7 @@ pipeline {
               ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
               ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
               ["test manager", "python selfdrive/manager/test/test_manager.py"],
+              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
             ])
           }
         }

selfdrive/boardd/tests/test_pandad.py

@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+import time
+import unittest
+
+import cereal.messaging as messaging
+from panda import Panda
+from selfdrive.test.helpers import phone_only
+from selfdrive.manager.process_config import managed_processes
+from system.hardware import HARDWARE
+
+
+class TestPandad(unittest.TestCase):
+
+  def tearDown(self):
+    managed_processes['pandad'].stop()
+
+  def _wait_for_boardd(self):
+    sm = messaging.SubMaster(['peripheralState'])
+    for _ in range(30):
+      sm.update(1000)
+      if sm.updated['peripheralState']:
+        break
+
+    if not sm.updated['peripheralState']:
+      raise Exception("boardd failed to start")
+
+  @phone_only
+  def test_in_dfu(self):
+    HARDWARE.recover_internal_panda()
+    time.sleep(1)
+
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+
+  @phone_only
+  def test_in_bootstub(self):
+    with Panda() as p:
+      p.reset(enter_bootstub=True)
+      assert p.bootstub
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+
+  #def test_out_of_date_fw(self):
+  #  pass
+
+
+if __name__ == "__main__":
+  unittest.main()