Merge remote-tracking branch 'commaai/panda/master' into camera-scc-long

commaai · Apr 25, 2023 · dfc38c1 · dfc38c1
2 parents d7e3f16 + b342c2d
commit dfc38c1
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diff --git a/.github/workflows/repo.yml b/.github/workflows/repo.yml
@@ -0,0 +1,28 @@
+name: repo
+
+on:
+  schedule:
+    - cron: "0 15 * * 2"
+  workflow_dispatch:
+
+jobs:
+  pre-commit-autoupdate:
+    name: pre-commit autoupdate
+    runs-on: ubuntu-20.04
+    container:
+      image: ghcr.io/commaai/panda:latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: pre-commit autoupdate
+      run: |
+        git config --global --add safe.directory '*'
+        pre-commit autoupdate
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      with:
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: Update pre-commit hook versions
+        title: 'pre-commit: autoupdate hooks'
+        branch: pre-commit-updates
+        base: master
+        delete-branch: true
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
@@ -12,6 +12,8 @@ env:
       export DOCKER_BUILDKIT=1
       docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from ghcr.io/commaai/panda:latest -t panda -f Dockerfile .
 
+  PYTHONWARNINGS: "error"
+
 jobs:
   docker_push:
     name: docker push
@@ -67,7 +69,7 @@ jobs:
       - name: Build Docker image
         run: eval "$BUILD"
       - name: Run safety tests
-        timeout-minutes: 4
+        timeout-minutes: 3
         run: |
           ${{ env.RUN }} "cd .. && \
                           scons -c && \

diff --git a/Dockerfile b/Dockerfile
@@ -51,7 +51,7 @@ ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 
 ENV PANDA_PATH=/tmp/openpilot/panda
 ENV OPENPILOT_REF="ee0dd36a3c775dbd82493c84f4e7272c1eb3fcbd"
-ENV OPENDBC_REF="e8e97fcf00be9a696be009aa37ca13c55b9f632c"
+ENV OPENDBC_REF="342c0320dd271fb585db3cced397c5122078af85"
 
 COPY requirements.txt /tmp/
 RUN pyenv install 3.8.10 && \
@@ -83,7 +83,7 @@ RUN cd /tmp/openpilot && \
     git clone https://github.com/commaai/panda_jungle.git && \
     cd panda_jungle && \
     git fetch && \
-    git checkout 7b7197c605915ac34f3d62f314edd84e2e78a759 && \
+    git checkout 3a791be1f1877a69cf45de16a670992380622297 && \
     rm -rf .git/
 
 RUN cd /tmp/openpilot && \

diff --git a/Jenkinsfile b/Jenkinsfile
@@ -2,6 +2,7 @@ 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 \
           --workdir /tmp/openpilot/panda \
@@ -12,58 +13,134 @@ def docker_run(String step_label, int timeout_mins, String cmd) {
   }
 }
 
+
+def phone(String ip, String step_label, String cmd) {
+  withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
+    def ssh_cmd = """
+ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+
+set -e
+
+
+source ~/.bash_profile
+if [ -f /etc/profile ]; then
+  source /etc/profile
+fi
+
+export CI=1
+export TEST_DIR=${env.TEST_DIR}
+export SOURCE_DIR=${env.SOURCE_DIR}
+export GIT_BRANCH=${env.GIT_BRANCH}
+export GIT_COMMIT=${env.GIT_COMMIT}
+export PYTHONPATH=${env.TEST_DIR}/../
+export PYTHONWARNINGS=error
+
+cd ${env.TEST_DIR} || true
+${cmd}
+exit 0
+
+END"""
+
+    sh script: ssh_cmd, label: step_label
+  }
+}
+
+def phone_steps(String device_type, steps) {
+  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+    timeout(time: 20, unit: 'MINUTES') {
+      phone(device_ip, "git checkout", readFile("tests/setup_device_ci.sh"),)
+      steps.each { item ->
+        phone(device_ip, item[0], item[1])
+      }
+    }
+  }
+}
+
+
+
 pipeline {
   agent any
   environment {
+    CI = "1"
     PARTIAL_TESTS = "${env.BRANCH_NAME == 'master' ? ' ' : '1'}"
+    PYTHONWARNINGS= "error"
     DOCKER_IMAGE_TAG = "panda:build-${env.GIT_COMMIT}"
+
+    TEST_DIR = "/data/panda"
+    SOURCE_DIR = "/data/panda_source/"
   }
   options {
     timeout(time: 3, unit: 'HOURS')
     disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
   }
 
   stages {
-    stage ('Acquire resource locks') {
-      options {
-        lock(resource: "pandas")
-      }
-      stages {
-        stage('Build Docker Image') {
+    stage('panda tests') {
+      parallel {
+        stage('test dos') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
-            timeout(time: 20, unit: 'MINUTES') {
-              script {
-                sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
-                dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
-              }
-            }
+            phone_steps("panda-dos", [
+              ["build", "scons -j4"],
+              ["flash", "cd tests/ && ./ci_reset_internal_hw.py"],
+              ["test", "cd tests/hitl && HW_TYPES=6 pytest --durations=0 [2-7]*.py -k 'not test_send_recv'"],
+            ])
           }
         }
-        stage('prep') {
+
+        stage('test tres') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
-            script {
-              docker_run("reset hardware", 3, "python ./tests/ci_reset_hw.py")
-            }
+            phone_steps("panda-tres", [
+              ["build", "scons -j4"],
+              ["flash", "cd tests/ && ./ci_reset_internal_hw.py"],
+              ["test", "cd tests/hitl && HW_TYPES=9 pytest --durations=0 2*.py [5-7]*.py -k 'not test_fan_controller and not test_fan_overshoot'"],
+            ])
           }
         }
-        stage('pedal tests') {
-          steps {
-            script {
-              docker_run("test pedal", 1, "PEDAL_JUNGLE=058010800f51363038363036 python ./tests/pedal/test_pedal.py")
-            }
+
+        stage ('Acquire resource locks') {
+          options {
+            lock(resource: "pandas")
           }
-        }
-        stage('HITL tests') {
-          steps {
-            script {
-              docker_run("HITL tests", 35, 'PANDAS_JUNGLE=23002d000851393038373731 PANDAS_EXCLUDE="1d0002000c51303136383232 2f002e000c51303136383232" ./tests/hitl/test.sh')
+          stages {
+            stage('Build Docker Image') {
+              steps {
+                timeout(time: 20, unit: 'MINUTES') {
+                  script {
+                    sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
+                    dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
+                  }
+                }
+              }
             }
-          }
-        }
-        stage('CANFD tests') {
-          steps {
-            script {
-              docker_run("CANFD tets", 6, 'JUNGLE=058010800f51363038363036 H7_PANDAS_EXCLUDE="080021000c51303136383232 33000e001051393133353939" ./tests/canfd/test_canfd.py')
+            stage('prep') {
+              steps {
+                script {
+                  docker_run("reset hardware", 3, "python ./tests/ci_reset_hw.py")
+                }
+              }
+            }
+            stage('pedal tests') {
+              steps {
+                script {
+                  docker_run("test pedal", 1, "PEDAL_JUNGLE=058010800f51363038363036 python ./tests/pedal/test_pedal.py")
+                }
+              }
+            }
+            stage('HITL tests') {
+              steps {
+                script {
+                  docker_run("HITL tests", 35, 'PANDAS_JUNGLE=23002d000851393038373731 PANDAS_EXCLUDE="1d0002000c51303136383232 2f002e000c51303136383232" ./tests/hitl/test.sh')
+                }
+              }
+            }
+            stage('CANFD tests') {
+              steps {
+                script {
+                  docker_run("CANFD tets", 6, 'JUNGLE=058010800f51363038363036 H7_PANDAS_EXCLUDE="080021000c51303136383232 33000e001051393133353939" ./tests/canfd/test_canfd.py')
+                }
+              }
             }
           }
         }

diff --git a/README.md b/README.md
@@ -13,25 +13,30 @@ It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?
 
 ## Usage
 
-Setup your dependencies:
-
+Setup dependencies:
 ```bash
 # Ubuntu
-sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip
-pip install -r requirements.txt
-
+sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git
+```
+```bash
 # macOS
 brew tap ArmMbed/homebrew-formulae
 brew install python dfu-util arm-none-eabi-gcc gcc@12
-pip install -r requirements.txt
 ```
 
-### Python
-
-To install the library:
+Clone panda repository:
 ``` bash
 git clone https://github.com/commaai/panda.git
 cd panda
+```
+
+Install requirements:
+```bash
+pip install -r requirements.txt
+```
+
+Install library:
+``` bash
 python setup.py install
 ```
 

diff --git a/board/README.md b/board/README.md
@@ -4,18 +4,15 @@ Programming
 **Panda**
 
 ```
-./recover.sh           # flash bootstub
-```
-
-```
-./flash.sh           # flash application
+./recover.py      # flash bootstub
+./flash.py        # flash application
 ```
 
 Troubleshooting
 ----
 
-If your panda will not flash and green LED is on, use `recover.sh`.
-If panda is blinking fast with green LED, use `flash.sh`.
+If your panda will not flash and green LED is on, use `recover.py`.
+If panda is blinking fast with green LED, use `flash.py`.
 Otherwise if LED is off and panda can't be seen with `lsusb` command, use [panda paw](https://comma.ai/shop/products/panda-paw) to go into DFU mode.
 
 

diff --git a/board/SConscript b/board/SConscript
@@ -102,7 +102,8 @@ def get_key_header(name):
   from Crypto.PublicKey import RSA
 
   public_fn = File(f'../certs/{name}.pub').srcnode().abspath
-  rsa = RSA.importKey(open(public_fn).read())
+  with open(public_fn) as f:
+    rsa = RSA.importKey(f.read())
   assert(rsa.size_in_bits() == 1024)
 
   rr = pow(2**1024, 2, rsa.n)

diff --git a/board/boards/dos.h b/board/boards/dos.h
@@ -217,7 +217,7 @@ const board board_dos = {
   .fan_max_rpm = 6500U,
   .adc_scale = 8862U,
   .fan_stall_recovery = true,
-  .fan_enable_cooldown_time = 0U,
+  .fan_enable_cooldown_time = 3U,
   .init = dos_init,
   .enable_can_transceiver = dos_enable_can_transceiver,
   .enable_can_transceivers = dos_enable_can_transceivers,

diff --git a/board/config.h b/board/config.h
@@ -8,6 +8,7 @@
 //#define DEBUG_SPI
 //#define DEBUG_FAULTS
 //#define DEBUG_COMMS
+//#define DEBUG_FAN
 
 #define CAN_INIT_TIMEOUT_MS 500U
 #define DEEPSLEEP_WAKEUP_DELAY 3U

diff --git a/board/drivers/bxcan.h b/board/drivers/bxcan.h
@@ -191,7 +191,7 @@ void can_rx(uint8_t can_number) {
     can_set_checksum(&to_push);
 
     // forwarding (panda only)
-    int bus_fwd_num = safety_fwd_hook(bus_number, &to_push);
+    int bus_fwd_num = safety_fwd_hook(bus_number, to_push.addr);
     if (bus_fwd_num != -1) {
       CANPacket_t to_send;
 

diff --git a/board/drivers/can_common.h b/board/drivers/can_common.h
@@ -257,6 +257,7 @@ void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) {
     }
   } else {
     safety_tx_blocked += 1U;
+    to_push->returned = 0U;
     to_push->rejected = 1U;
 
     // data changed

diff --git a/board/drivers/fake_siren.h b/board/drivers/fake_siren.h
@@ -1,14 +1,15 @@
 #include "stm32h7/lli2c.h"
 
 #define CODEC_I2C_ADDR 0x10
+
 // 1Vpp sine wave with 1V offset
 const uint8_t fake_siren_lut[360] = { 134U, 135U, 137U, 138U, 139U, 140U, 141U, 143U, 144U, 145U, 146U, 148U, 149U, 150U, 151U, 152U, 154U, 155U, 156U, 157U, 158U, 159U, 160U, 162U, 163U, 164U, 165U, 166U, 167U, 168U, 169U, 170U, 171U, 172U, 174U, 175U, 176U, 177U, 177U, 178U, 179U, 180U, 181U, 182U, 183U, 184U, 185U, 186U, 186U, 187U, 188U, 189U, 190U, 190U, 191U, 192U, 193U, 193U, 194U, 195U, 195U, 196U, 196U, 197U, 197U, 198U, 199U, 199U, 199U, 200U, 200U, 201U, 201U, 202U, 202U, 202U, 203U, 203U, 203U, 203U, 204U, 204U, 204U, 204U, 204U, 204U, 204U, 205U, 205U, 205U, 205U, 205U, 205U, 205U, 204U, 204U, 204U, 204U, 204U, 204U, 204U, 203U, 203U, 203U, 203U, 202U, 202U, 202U, 201U, 201U, 200U, 200U, 199U, 199U, 199U, 198U, 197U, 197U, 196U, 196U, 195U, 195U, 194U, 193U, 193U, 192U, 191U, 190U, 190U, 189U, 188U, 187U, 186U, 186U, 185U, 184U, 183U, 182U, 181U, 180U, 179U, 178U, 177U, 177U, 176U, 175U, 174U, 172U, 171U, 170U, 169U, 168U, 167U, 166U, 165U, 164U, 163U, 162U, 160U, 159U, 158U, 157U, 156U, 155U, 154U, 152U, 151U, 150U, 149U, 148U, 146U, 145U, 144U, 143U, 141U, 140U, 139U, 138U, 137U, 135U, 134U, 133U, 132U, 130U, 129U, 128U, 127U, 125U, 124U, 123U, 122U, 121U, 119U, 118U, 117U, 116U, 115U, 113U, 112U, 111U, 110U, 109U, 108U, 106U, 105U, 104U, 103U, 102U, 101U, 100U, 99U, 98U, 97U, 96U, 95U, 94U, 93U, 92U, 91U, 90U, 89U, 88U, 87U, 86U, 85U, 84U, 83U, 82U, 82U, 81U, 80U, 79U, 78U, 78U, 77U, 76U, 76U, 75U, 74U, 74U, 73U, 72U, 72U, 71U, 71U, 70U, 70U, 69U, 69U, 68U, 68U, 67U, 67U, 67U, 66U, 66U, 66U, 65U, 65U, 65U, 65U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 63U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 65U, 65U, 65U, 65U, 66U, 66U, 66U, 67U, 67U, 67U, 68U, 68U, 69U, 69U, 70U, 70U, 71U, 71U, 72U, 72U, 73U, 74U, 74U, 75U, 76U, 76U, 77U, 78U, 78U, 79U, 80U, 81U, 82U, 82U, 83U, 84U, 85U, 86U, 87U, 88U, 89U, 90U, 91U, 92U, 93U, 94U, 95U, 96U, 97U, 98U, 99U, 100U, 101U, 102U, 103U, 104U, 105U, 106U, 108U, 109U, 110U, 111U, 112U, 113U, 115U, 116U, 117U, 118U, 119U, 121U, 122U, 123U, 124U, 125U, 127U, 128U, 129U, 130U, 132U, 133U };
 
 bool fake_siren_enabled = false;
 
 void fake_siren_codec_enable(bool enabled) {
-  if(enabled) {
-    bool success = false;
+  if (enabled) {
+    bool success = true;
     success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x2B, (1U << 1)); // Left speaker mix from INA1
     success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x2C, (1U << 1)); // Right speaker mix from INA1
     success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3D, 0x17, 0b11111); // Left speaker volume
@@ -17,11 +18,12 @@ void fake_siren_codec_enable(bool enabled) {
     success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x4C, (1U << 7)); // Enable INA
     success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x51, (1U << 7)); // Disable global shutdown
     if (!success) {
-      print("Failed to setup the codec for fake siren\n");
+      print("Siren codec enable failed\n");
+      fault_occurred(FAULT_SIREN_MALFUNCTION);
     }
   } else {
     // Disable INA input. Make sure to retry a few times if the I2C bus is busy.
-    for(uint8_t i=0U; i<10U; i++) {
+    for (uint8_t i=0U; i<10U; i++) {
       if (i2c_clear_reg_bits(I2C5, CODEC_I2C_ADDR, 0x4C, (1U << 7))) {
         break;
       }