sbu in panda health

.github/workflows/drivers.yaml

@@ -0,0 +1,23 @@
+name: drivers
+on: [push, pull_request]
+
+jobs:
+  build_socketcan:
+    name: socketcan build
+    runs-on: ubuntu-20.04
+    timeout-minutes: 5
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install dependencies
+        run: |
+          sudo apt-get install -y dkms gcc linux-headers-$(uname -r) make
+      - name: Build socketcan driver
+        run: |
+          cd drivers/linux
+          make link
+          make build
+          make install
+      - name: Print make log
+        if: always()
+        continue-on-error: true
+        run: cat /var/lib/dkms/panda/*/build/make.log

.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

.github/workflows/test.yaml

@@ -0,0 +1,136 @@
+name: tests
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}
+  cancel-in-progress: true
+
+env:
+  RUN: docker run -v ${{ github.workspace }}:/tmp/openpilot/panda -w /tmp/openpilot/panda --rm panda /bin/bash -c
+  BUILD: |
+      export DOCKER_BUILDKIT=1
+      docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from ghcr.io/commaai/panda:latest -t panda -f Dockerfile .
+
+  PYTHONWARNINGS: "error"
+
+jobs:
+  docker_push:
+    name: docker push
+    runs-on: ubuntu-20.04
+    timeout-minutes: 20
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/panda'
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        timeout-minutes: 11
+        run: eval "$BUILD"
+      - name: Login to dockerhub
+        run: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
+      - name: Tag image
+        run: docker tag panda ghcr.io/commaai/panda:latest
+      - name: Push image
+        run: docker push ghcr.io/commaai/panda:latest
+
+  build:
+    name: build
+    runs-on: ubuntu-20.04
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Test python package installer
+        run: ${{ env.RUN }} "python setup.py install"
+      - name: Build panda + pedal images and bootstub
+        run: ${{ env.RUN }} "scons -j4"
+      - name: Build panda with SPI support
+        run: ${{ env.RUN }} "ENABLE_SPI=1 scons -j4"
+      - name: Build with UBSan
+        run: ${{ env.RUN }} "scons -j4 --ubsan"
+      - name: Build jungle firmware with FINAL_PROVISIONING support
+        run: ${{ env.RUN }} "FINAL_PROVISIONING=1 scons -j4 board/jungle"
+
+  unit_tests:
+    name: unit tests
+    runs-on: ubuntu-20.04
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Build panda
+        run: $RUN "scons -j4"
+      - name: Test communication protocols
+        run: $RUN "cd tests/usbprotocol && ./test.sh"
+
+  safety:
+    name: safety
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        flags: ['', '--ubsan']
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Run safety tests
+        timeout-minutes: 5
+        run: |
+          ${{ env.RUN }} "cd .. && \
+                          scons -c && \
+                          scons -j$(nproc) opendbc/ cereal/ && \
+                          cd panda && \
+                          scons -j$(nproc) ${{ matrix.flags }} && \
+                          tests/safety/test.sh"
+
+  safety_coverage:
+    name: safety coverage
+    runs-on: ubuntu-20.04
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Run safety coverage test
+        timeout-minutes: 5
+        run: |
+          ${{ env.RUN }} "cd .. && \
+                          scons -c && \
+                          scons -j$(nproc) opendbc/ cereal/ && \
+                          cd panda/tests/safety && \
+                          ./test_coverage.sh"
+
+  misra:
+    name: MISRA C:2012
+    runs-on: ubuntu-20.04
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Build FW
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Run MISRA C:2012 analysis
+        timeout-minutes: 1
+        run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
+      - name: MISRA mutation tests
+        timeout-minutes: 2
+        run: ${{ env.RUN }} "cd tests/misra && ./test_mutation.py"
+
+  python_linter:
+    name: python linter
+    runs-on: ubuntu-20.04
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Run static analysis
+        timeout-minutes: 3
+        run: ${{ env.RUN }} "pre-commit run --all"

.gitignore

@@ -1,17 +1,30 @@
+*.tmp
 *.pyc
 .*.swp
 .*.swo
 *.o
 *.so
+*.os
 *.d
 *.dump
 a.out
 *~
 .#*
 dist/
 pandacan.egg-info/
-board/obj/
+obj/
 examples/output.csv
 .DS_Store
-.vscode
+.vscode*
 nosetests.xml
+.mypy_cache/
+.sconsign.dblite
+
+# CTU info files generated by Cppcheck
+*.*.ctu-info
+
+# safety coverage-related files
+*.gcda
+*.gcno
+tests/safety/coverage-out
+tests/safety/coverage.info

.pre-commit-config.yaml

@@ -0,0 +1,20 @@
+repos:
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.5.0
+  hooks:
+    - id: check-ast
+    - id: check-yaml
+    - id: check-merge-conflict
+    - id: check-symlinks
+    - id: check-executables-have-shebangs
+    - id: check-shebang-scripts-are-executable
+- repo: https://github.com/pre-commit/mirrors-mypy
+  rev: v1.7.1
+  hooks:
+    - id: mypy
+      additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
+                                'types-pycurl']
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.1.8
+  hooks:
+    - id: ruff