Red Panda: add separate CAN FD test to CI (commaai#807)

* initial simple test

* linter

* ...

Author: briskspirit

Jenkinsfile

@@ -30,6 +30,22 @@ pipeline {
         }
       }
     }
+    stage('CANFD tests') {
+      steps {
+        lock(resource: "pedal", inversePrecedence: true, quantity: 1) {
+          timeout(time: 10, unit: 'MINUTES') {
+            script {
+              sh "docker run --rm --privileged \
+                    --volume /dev/bus/usb:/dev/bus/usb \
+                    --volume /var/run/dbus:/var/run/dbus \
+                    --net host \
+                    ${env.DOCKER_IMAGE_TAG} \
+                    bash -c 'cd /tmp/panda && ./board/build_all.sh && JUNGLE=058010800f51363038363036 H7_PANDAS_EXCLUDE=\"080021000c51303136383232\" python ./tests/canfd/test_ci_canfd.py'"
+            }
+          }
+        }
+      }
+    }
     stage('HITL tests') {
       steps {
         lock(resource: "pandas", inversePrecedence: true, quantity: 1) {
@@ -40,7 +56,7 @@ pipeline {
                     --volume /var/run/dbus:/var/run/dbus \
                     --net host \
                     ${env.DOCKER_IMAGE_TAG} \
-                    bash -c 'cd /tmp/panda && ./board/build_all.sh && PANDAS_JUNGLE=23002d000851393038373731 ./tests/automated/test.sh'"
+                    bash -c 'cd /tmp/panda && ./board/build_all.sh && PANDAS_JUNGLE=23002d000851393038373731 PANDAS_EXCLUDE=\"1d0002000c51303136383232 2f002e000c51303136383232\" ./tests/automated/test.sh'"
             }
           }
         }

tests/automated/helpers.py

@@ -19,6 +19,9 @@
 GPS_HW_TYPES = [Panda.HW_TYPE_GREY_PANDA, Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO]
 PEDAL_SERIAL = 'none'
 JUNGLE_SERIAL = os.getenv("PANDAS_JUNGLE")
+PANDAS_EXCLUDE = []
+if os.getenv("PANDAS_EXCLUDE"):
+  PANDAS_EXCLUDE = os.getenv("PANDAS_EXCLUDE").strip().split(" ")
 
 # Enable fault debug
 faulthandler.enable(all_threads=False)
@@ -34,10 +37,11 @@ def init_panda_serials():
   panda_jungle.set_panda_power(True)
   time.sleep(5)
   for serial in Panda.list():
-    p = Panda(serial=serial)
-    _panda_serials.append((serial, p.get_type()))
-    p.close()
-  print('Found', str(len(_panda_serials)), 'pandas')
+    if serial not in PANDAS_EXCLUDE:
+      p = Panda(serial=serial)
+      _panda_serials.append((serial, p.get_type()))
+      p.close()
+  print(f"Found {len(_panda_serials)} pandas")
 init_panda_serials()
 
 # Panda providers

tests/canfd/test_ci_canfd.py

@@ -0,0 +1,100 @@
+import os
+import time
+import random
+import _thread
+from collections import defaultdict
+from panda import Panda
+from panda_jungle import PandaJungle  # pylint: disable=import-error
+
+H7_HW_TYPES = [Panda.HW_TYPE_RED_PANDA]
+JUNGLE_SERIAL = os.getenv("JUNGLE")
+H7_PANDAS_EXCLUDE = [] # type: ignore
+if os.getenv("H7_PANDAS_EXCLUDE"):
+  H7_PANDAS_EXCLUDE = os.getenv("H7_PANDAS_EXCLUDE").strip().split(" ") # type: ignore
+
+#TODO: REMOVE, temporary list of CAN FD lengths, one in panda python lib MUST be used
+DLC_TO_LEN = [0,1,2,3,4,5,6,7,8, 12, 16, 20, 24, 32, 48]
+
+_panda_serials = []
+
+def start_heartbeat_thread(p):
+  def heartbeat_thread(p):
+    while True:
+      try:
+        p.send_heartbeat()
+        time.sleep(.5)
+      except Exception:
+        break
+  _thread.start_new_thread(heartbeat_thread, (p,))
+
+def panda_init(serial):
+  p = Panda(serial=serial)
+  assert p.recover(timeout=30)
+  start_heartbeat_thread(p)
+  for bus in range(3):
+    p.set_can_speed_kbps(bus,  500)
+    p.set_can_data_speed_kbps(bus, 2000)
+  p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  p.set_power_save(False)
+  return p
+
+if JUNGLE_SERIAL:
+  panda_jungle = PandaJungle(JUNGLE_SERIAL)
+  panda_jungle.set_panda_power(False)
+  time.sleep(2)
+  panda_jungle.set_panda_power(True)
+  time.sleep(4)
+  #panda_jungle.set_can_enable(0, False)
+  #panda_jungle.set_can_enable(1, False)
+  #panda_jungle.set_can_enable(2, False)
+
+for serial in Panda.list():
+  if serial not in H7_PANDAS_EXCLUDE:
+    p = Panda(serial=serial)
+    if p.get_type() in H7_HW_TYPES:
+      _panda_serials.append(serial)
+    p.close()
+
+if len(_panda_serials) < 2:
+  print("Minimum two H7 type pandas should be connected.")
+  assert False
+
+
+def canfd_test(p_send, p_recv):
+  for _ in range(500):
+    sent_msgs = defaultdict(set)
+    to_send = []
+    for _ in range(200):
+      bus = random.randrange(3)
+      for dlc in range(len(DLC_TO_LEN)):
+        address = random.randrange(1, 1<<29)
+        data = bytes([random.getrandbits(8) for _ in range(DLC_TO_LEN[dlc])])
+        to_send.append([address, 0, data, bus])
+        sent_msgs[bus].add((address, data))
+
+    p_send.can_send_many(to_send, timeout=0)
+
+    while True:
+      incoming = p_recv.can_recv()
+      if not incoming:
+        break
+      for msg in incoming:
+        address, _, data, bus = msg
+        k = (address, bytes(data))
+        assert k in sent_msgs[bus], f"message {k} was never sent on bus {bus}"
+        sent_msgs[bus].discard(k)
+
+    for bus in range(3):
+      assert not len(sent_msgs[bus]), f"loop : bus {bus} missing {len(sent_msgs[bus])} messages"
+
+  # Set back to silent mode
+  p_send.set_safety_mode(Panda.SAFETY_SILENT)
+  p_recv.set_safety_mode(Panda.SAFETY_SILENT)
+  p_send.set_power_save(True)
+  p_recv.set_power_save(True)
+  print("Got all messages intact")
+
+
+p_send = panda_init(_panda_serials[0])
+p_recv = panda_init(_panda_serials[1])
+canfd_test(p_send, p_recv)