Panda Jungle testing (commaai#394)

Rebase all open branches on this commit to make sure they are tested correctly!

Dockerfile

@@ -71,6 +71,8 @@ ENV PYTHONPATH /tmp:$PYTHONPATH
 COPY ./boardesp/get_sdk_ci.sh /tmp/panda/boardesp/
 COPY ./boardesp/python2_make.py /tmp/panda/boardesp/
 
+COPY ./panda_jungle /tmp/panda_jungle
+
 RUN useradd --system -s /sbin/nologin pandauser
 RUN mkdir -p /tmp/panda/boardesp/esp-open-sdk
 RUN chown pandauser /tmp/panda/boardesp/esp-open-sdk

Jenkinsfile

@@ -14,6 +14,11 @@ pipeline {
       steps {
         timeout(time: 60, unit: 'MINUTES') {
           script {
+            try {
+              sh 'cp -R /home/batman/panda_jungle .'
+            } catch (err) {
+              echo "Folder already exists"
+            }
             sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD'
             dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}")
           }

tests/automated/1_program.py

@@ -1,4 +1,8 @@
-from .helpers import test_all_pandas, panda_connect_and_init
+from .helpers import reset_pandas, test_all_pandas, panda_connect_and_init
+
+# Reset the pandas before flashing them
+def aaaa_reset_before_tests():
+  reset_pandas()
 
 @test_all_pandas
 @panda_connect_and_init

tests/automated/2_ignition_orientation.py

@@ -0,0 +1,37 @@
+import time
+from panda_jungle import PandaJungle  # pylint: disable=import-error
+from .helpers import panda_jungle, reset_pandas, test_all_pandas, test_all_gen2_pandas, panda_connect_and_init
+
+# Reset the pandas before running tests
+def aaaa_reset_before_tests():
+  reset_pandas()
+
+@test_all_pandas
+@panda_connect_and_init
+def test_ignition(p):
+  try:
+    # Set harness orientation to #2, since the ignition line is on the wrong SBU bus :/
+    panda_jungle.set_harness_orientation(PandaJungle.HARNESS_ORIENTATION_2)
+    reset_pandas()
+    p.reconnect()
+    panda_jungle.set_ignition(False)
+    time.sleep(2)
+    assert p.health()['ignition_line'] == False
+    panda_jungle.set_ignition(True)
+    time.sleep(2)
+    assert p.health()['ignition_line'] == True
+  finally:
+    panda_jungle.set_harness_orientation(PandaJungle.HARNESS_ORIENTATION_1)
+
+@test_all_gen2_pandas
+@panda_connect_and_init
+def test_orientation_detection(p):
+  seen_orientations = []
+  for i in range(3):
+    panda_jungle.set_harness_orientation(i)
+    reset_pandas()
+    p.reconnect()
+    detected_harness_orientation = p.health()['car_harness_status']
+    if (i == 0 and detected_harness_orientation != 0) or detected_harness_orientation in seen_orientations:
+      assert False
+    seen_orientations.append(detected_harness_orientation)

tests/automated/2_usb_to_can.py → tests/automated/3_usb_to_can.py

@@ -2,11 +2,18 @@
 import time
 from panda import Panda
 from nose.tools import assert_equal, assert_less, assert_greater
-from .helpers import SPEED_NORMAL, SPEED_GMLAN, time_many_sends, test_white_and_grey, panda_type_to_serial, test_all_pandas, panda_connect_and_init
+from .helpers import start_heartbeat_thread, reset_pandas, SPEED_NORMAL, SPEED_GMLAN, time_many_sends, test_white_and_grey, panda_type_to_serial, test_all_pandas, panda_connect_and_init
+
+# Reset the pandas before running tests
+def aaaa_reset_before_tests():
+  reset_pandas()
 
 @test_all_pandas
 @panda_connect_and_init
 def test_can_loopback(p):
+  # Start heartbeat
+  start_heartbeat_thread(p)
+
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
@@ -40,6 +47,9 @@ def test_can_loopback(p):
 @test_all_pandas
 @panda_connect_and_init
 def test_safety_nooutput(p):
+  # Start heartbeat
+  start_heartbeat_thread(p)
+
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_SILENT)
 
@@ -60,6 +70,9 @@ def test_reliability(p):
   LOOP_COUNT = 100
   MSG_COUNT = 100
 
+  # Start heartbeat
+  start_heartbeat_thread(p)
+
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
   p.set_can_loopback(True)
@@ -95,6 +108,9 @@ def test_reliability(p):
 @test_all_pandas
 @panda_connect_and_init
 def test_throughput(p):
+  # Start heartbeat
+  start_heartbeat_thread(p)
+
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
@@ -122,6 +138,9 @@ def test_gmlan(p):
   if p.legacy:
     return
 
+  # Start heartbeat
+  start_heartbeat_thread(p)
+
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
@@ -153,6 +172,9 @@ def test_gmlan_bad_toggle(p):
   if p.legacy:
     return
 
+  # Start heartbeat
+  start_heartbeat_thread(p)
+
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 

tests/automated/3_wifi.py → tests/automated/4_wifi.py

@@ -1,8 +1,12 @@
 import time
 from panda import Panda
-from .helpers import connect_wifi, test_white, test_all_pandas, panda_type_to_serial, panda_connect_and_init
+from .helpers import reset_pandas, connect_wifi, test_white, test_all_pandas, panda_type_to_serial, panda_connect_and_init
 import requests
 
+# Reset the pandas before running tests
+def aaaa_reset_before_tests():
+  reset_pandas()
+
 @test_all_pandas
 @panda_connect_and_init
 def test_get_serial(p):

tests/automated/4_wifi_functionality.py → tests/automated/5_wifi_functionality.py

@@ -1,6 +1,10 @@
 import time
 from panda import Panda
-from .helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
+from .helpers import start_heartbeat_thread, reset_pandas, time_many_sends, connect_wifi, test_white, panda_type_to_serial
+
+# Reset the pandas before running tests
+def aaaa_reset_before_tests():
+  reset_pandas()
 
 @test_white
 @panda_type_to_serial
@@ -16,6 +20,9 @@ def test_throughput(serials=None):
   connect_wifi(serials[0])
   p = Panda(serials[0])
 
+  # Start heartbeat
+  start_heartbeat_thread(p)
+
   # enable output mode
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
@@ -43,6 +50,10 @@ def test_throughput(serials=None):
 def test_recv_only(serials=None):
   connect_wifi(serials[0])
   p = Panda(serials[0])
+
+  # Start heartbeat
+  start_heartbeat_thread(p)
+
   p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
   p.set_can_loopback(True)