misc hitl test cleanup (#1562)

* misc hitl test cleanup

* adjust that

* update

* tres fix

---------

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

Jenkinsfile

@@ -1,7 +1,6 @@
 def docker_run(String step_label, int timeout_mins, String cmd) {
   timeout(time: timeout_mins, unit: 'MINUTES') {
     sh script: "docker run --rm --privileged \
-          --env PARTIAL_TESTS=${env.PARTIAL_TESTS} \
           --env PYTHONWARNINGS=error \
           --volume /dev/bus/usb:/dev/bus/usb \
           --volume /var/run/dbus:/var/run/dbus \
@@ -62,7 +61,6 @@ pipeline {
   agent any
   environment {
     CI = "1"
-    //PARTIAL_TESTS = "${env.BRANCH_NAME == 'master' ? ' ' : '1'}"
     PYTHONWARNINGS= "error"
     DOCKER_IMAGE_TAG = "panda:build-${env.GIT_COMMIT}"
 

tests/hitl/1_program.py

@@ -9,11 +9,30 @@ def check_signature(p):
   assert not p.bootstub, "Flashed firmware not booting. Stuck in bootstub."
   assert p.up_to_date()
 
+
+@pytest.mark.expected_logs(1)
+def test_dfu(p):
+  app_mcu_type = p.get_mcu_type()
+  dfu_serial = p.get_dfu_serial()
+
+  p.reset(enter_bootstub=True)
+  p.reset(enter_bootloader=True)
+  assert Panda.wait_for_dfu(dfu_serial, timeout=19), "failed to enter DFU"
+
+  dfu = PandaDFU(dfu_serial)
+  assert dfu.get_mcu_type() == app_mcu_type
+
+  assert dfu_serial in PandaDFU.list()
+
+  dfu._handle.clear_status()
+  dfu.reset()
+  p.reconnect()
+
 # TODO: make more comprehensive bootstub tests and run on a few production ones + current
 # TODO: also test release-signed app
 @pytest.mark.execution_timeout(30)
 @pytest.mark.expected_logs(1, 2)
-def test_a_known_bootstub(p):
+def test_known_bootstub(p):
   """
   Test that compiled app can work with known production bootstub
   """
@@ -60,13 +79,13 @@ def test_a_known_bootstub(p):
 
 @pytest.mark.execution_timeout(25)
 @pytest.mark.expected_logs(1)
-def test_b_recover(p):
+def test_recover(p):
   assert p.recover(timeout=30)
   check_signature(p)
 
 @pytest.mark.execution_timeout(25)
 @pytest.mark.expected_logs(3)
-def test_c_flash(p):
+def test_flash(p):
   # test flash from bootstub
   serial = p._serial
   assert serial is not None

tests/hitl/3_usb_to_can.py

@@ -1,4 +1,3 @@
-import sys
 import time
 import pytest
 from flaky import flaky
@@ -60,9 +59,6 @@ def test_reliability(p):
     et = (time.monotonic() - st) * 1000.0
     assert et < 20
 
-    sys.stdout.write("P")
-    sys.stdout.flush()
-
 @flaky(max_runs=6, min_passes=1)
 def test_throughput(p):
   # enable output mode
@@ -90,10 +86,6 @@ def test_gmlan(p):
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
   p.set_can_loopback(True)
 
-  p.set_can_speed_kbps(1, SPEED_NORMAL)
-  p.set_can_speed_kbps(2, SPEED_NORMAL)
-  p.set_can_speed_kbps(3, SPEED_GMLAN)
-
   # set gmlan on CAN2
   for bus in [Panda.GMLAN_CAN2, Panda.GMLAN_CAN3, Panda.GMLAN_CAN2, Panda.GMLAN_CAN3]:
     p.set_gmlan(bus)

tests/hitl/4_can_loopback.py

@@ -7,30 +7,17 @@
 from collections import defaultdict
 
 from panda import Panda
-from panda.tests.hitl.conftest import PandaGroup, PARTIAL_TESTS
-from panda.tests.hitl.helpers import time_many_sends, clear_can_buffers
+from panda.tests.hitl.conftest import PandaGroup
+from panda.tests.hitl.helpers import time_many_sends, get_random_can_messages, clear_can_buffers
 
 @flaky(max_runs=3, min_passes=1)
 @pytest.mark.execution_timeout(35)
 def test_send_recv(p, panda_jungle):
   def test(p_send, p_recv):
-    p_send.set_can_loopback(False)
-    p_recv.set_can_loopback(False)
-
-    p_send.can_send_many([(0x1ba, 0, b"message", 0)] * 2)
-    time.sleep(0.05)
-    p_recv.can_recv()
-    p_send.can_recv()
-
     for bus in (0, 1, 2):
       for speed in (10, 20, 50, 100, 125, 250, 500, 1000):
-        p_send.set_can_speed_kbps(bus, speed)
-        p_recv.set_can_speed_kbps(bus, speed)
-        time.sleep(0.1)
-
-        clear_can_buffers(p_send)
-        clear_can_buffers(p_recv)
-        time.sleep(0.1)
+        clear_can_buffers(p_send, speed)
+        clear_can_buffers(p_recv, speed)
 
         comp_kbps = time_many_sends(p_send, bus, p_recv, two_pandas=True)
 
@@ -49,27 +36,10 @@ def test(p_send, p_recv):
 @pytest.mark.execution_timeout(30)
 def test_latency(p, panda_jungle):
   def test(p_send, p_recv):
-    p_send.set_can_loopback(False)
-    p_recv.set_can_loopback(False)
-
-    p_send.set_can_speed_kbps(0, 500)
-    p_recv.set_can_speed_kbps(0, 500)
-    time.sleep(0.05)
-
-    p_send.can_send_many([(0x1ba, 0, b"testmsg", 0)] * 10)
-    time.sleep(0.05)
-    p_recv.can_recv()
-    p_send.can_recv()
-
     for bus in (0, 1, 2):
       for speed in (10, 20, 50, 100, 125, 250, 500, 1000):
-        p_send.set_can_speed_kbps(bus, speed)
-        p_recv.set_can_speed_kbps(bus, speed)
-        time.sleep(0.1)
-
-        # clear can buffers
-        clear_can_buffers(p_send)
-        clear_can_buffers(p_recv)
+        clear_can_buffers(p_send, speed)
+        clear_can_buffers(p_recv, speed)
 
         latencies = []
         comp_kbps_list = []
@@ -166,10 +136,6 @@ def test(p_send, p_recv, address=None):
   test(panda_jungle, p, 0x18DB33F1)
 
 def test_bulk_write(p, panda_jungle):
-  # TODO: doesn't work in partial test mode
-  if PARTIAL_TESTS:
-    return
-
   # The TX buffers on pandas is 0x100 in length.
   NUM_MESSAGES_PER_BUS = 10000
 
@@ -204,27 +170,15 @@ def flood_tx(panda):
   if len(rx) != 4 * NUM_MESSAGES_PER_BUS:
     raise Exception("Did not receive all messages!")
 
-  # Set back to silent mode
-  p.set_safety_mode(Panda.SAFETY_SILENT)
-
 def test_message_integrity(p):
-  clear_can_buffers(p)
-
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-
   p.set_can_loopback(True)
-
-  n = 250
-  for i in range(n):
+  for i in range(250):
     sent_msgs = defaultdict(set)
     for _ in range(random.randrange(10)):
-      to_send = []
-      for __ in range(random.randrange(100)):
-        bus = random.randrange(3)
-        addr = random.randrange(1, 1<<29)
-        dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))])
-        sent_msgs[bus].add((addr, dat))
-        to_send.append([addr, None, dat, bus])
+      to_send = get_random_can_messages(random.randrange(100))
+      for m in to_send:
+        sent_msgs[m[3]].add((m[0], m[2]))
       p.can_send_many(to_send, timeout=0)
 
     start_time = time.monotonic()
@@ -233,13 +187,12 @@ def test_message_integrity(p):
       for msg in recvd:
         if msg[3] >= 128:
           k = (msg[0], bytes(msg[2]))
-          assert k in sent_msgs[msg[3]-128], f"message {k} was never sent on bus {bus}"
+          bus = msg[3]-128
+          assert k in sent_msgs[bus], f"message {k} was never sent on bus {bus}"
           sent_msgs[msg[3]-128].discard(k)
 
     # if a set isn't empty, messages got dropped
     for bus in range(3):
       assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
 
-  # Set back to silent mode
-  p.set_safety_mode(Panda.SAFETY_SILENT)
   print("Got all messages intact")

tests/hitl/5_spi.py

@@ -3,13 +3,33 @@
 import random
 from unittest.mock import patch
 
-from panda import Panda
-from panda.python.spi import PandaProtocolMismatch, PandaSpiNackResponse
+from panda import Panda, PandaDFU
+from panda.python.spi import SpiDevice, PandaProtocolMismatch, PandaSpiNackResponse
 
 pytestmark = [
   pytest.mark.test_panda_types((Panda.HW_TYPE_TRES, ))
 ]
 
+@pytest.mark.skip("doesn't work, bootloader seems to ignore commands once it sees junk")
+@pytest.mark.expected_logs(0)
+def test_dfu_with_spam(p):
+  dfu_serial = p.get_dfu_serial()
+
+  # enter DFU
+  p.reset(enter_bootstub=True)
+  p.reset(enter_bootloader=True)
+  assert Panda.wait_for_dfu(dfu_serial, timeout=19), "failed to enter DFU"
+
+  # send junk
+  d = SpiDevice()
+  for _ in range(9):
+    with d.acquire() as spi:
+      dat = [random.randint(-1, 255) for _ in range(random.randint(1, 100))]
+      spi.xfer(dat)
+
+    # should still show up
+    assert dfu_serial in PandaDFU.list()
+
 class TestSpi:
   def _ping(self, mocker, panda):
     # should work with no retries

tests/hitl/7_internal.py

@@ -49,7 +49,7 @@ def test_fan_cooldown(p):
 
 def test_fan_overshoot(p):
   if p.get_type() == Panda.HW_TYPE_DOS:
-    pytest.skip("fan controller overshoots on fans that need stall recovery")
+    pytest.skip("panda's fan controller overshoots on the comma three fans that need stall recovery")
 
   # make sure it's stopped completely
   p.set_fan_power(0)

tests/hitl/conftest.py

@@ -28,12 +28,7 @@ class PandaGroup:
 
   TESTED = (Panda.HW_TYPE_WHITE_PANDA, Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_RED_PANDA, Panda.HW_TYPE_RED_PANDA_V2, Panda.HW_TYPE_UNO)
 
-if PARTIAL_TESTS:
-  # minimal set of pandas to get most of our coverage
-  # * red panda covers GEN2, STM32H7
-  # * black panda covers STM32F4, and GEN2
-  PandaGroup.TESTED = (Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_RED_PANDA)  # type: ignore
-elif HW_TYPES is not None:
+if HW_TYPES is not None:
   PandaGroup.TESTED = [bytes([int(x), ]) for x in HW_TYPES.strip().split(",")] # type: ignore
 
 

tests/hitl/helpers.py

@@ -1,5 +1,6 @@
 import time
 import random
+from typing import Optional
 
 
 def get_random_can_messages(n):
@@ -51,7 +52,11 @@ def time_many_sends(p, bus, p_recv=None, msg_count=100, two_pandas=False):
   return comp_kbps
 
 
-def clear_can_buffers(panda):
+def clear_can_buffers(panda, speed: Optional[int] = None):
+  if speed is not None:
+    for bus in range(3):
+      panda.set_can_speed_kbps(bus, speed)
+
   # clear tx buffers
   for i in range(4):
     panda.can_clear(i)