Merge remote-tracking branch 'origin/master' into pedal2

opgm · Nov 8, 2023 · 6632766 · 6632766
2 parents f6ecaee + fa04f47
commit 6632766
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diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
@@ -1,5 +1,10 @@
 name: tests
-on: [push, pull_request]
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}
@@ -48,6 +53,8 @@ jobs:
         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
@@ -61,8 +68,6 @@ jobs:
         run: $RUN "scons -j4"
       - name: Test communication protocols
         run: $RUN "cd tests/usbprotocol && ./test.sh"
-      - name: Test logging
-        run: $RUN "cd tests/logging && ./test.sh"
 
   safety:
     name: safety
@@ -76,7 +81,7 @@ jobs:
       - name: Build Docker image
         run: eval "$BUILD"
       - name: Run safety tests
-        timeout-minutes: 4
+        timeout-minutes: 5
         run: |
           ${{ env.RUN }} "cd .. && \
                           scons -c && \
@@ -85,23 +90,6 @@ jobs:
                           scons -j$(nproc) ${{ matrix.flags }} && \
                           tests/safety/test.sh"
 
-  safety_replay:
-    name: safety replay
-    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 replay
-        run: |
-          ${{ env.RUN }} "scons -j$(nproc) ${{ matrix.flags }} && \
-                          cd tests/safety_replay && \
-                          ./test_safety_replay.py"
-
   misra:
     name: misra c2012
     runs-on: ubuntu-20.04

diff --git a/.gitignore b/.gitignore
@@ -1,3 +1,4 @@
+*.tmp
 *.pyc
 .*.swp
 .*.swo
@@ -11,7 +12,7 @@ a.out
 .#*
 dist/
 pandacan.egg-info/
-board/obj/
+obj/
 examples/output.csv
 .DS_Store
 .vscode*
@@ -21,3 +22,9 @@ nosetests.xml
 
 # CTU info files generated by Cppcheck
 *.*.ctu-info
+
+# safety coverage-related files
+*.gcda
+*.gcno
+tests/safety/coverage-out
+tests/safety/coverage.info
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,36 +1,20 @@
 repos:
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.0.1
-    hooks:
-    -   id: check-ast
-    -   id: check-yaml
-    -   id: check-merge-conflict
-    -   id: check-symlinks
--   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v0.910-1
-    hooks:
-    -   id: mypy
-        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
-                                  'types-pycurl']
--   repo: https://github.com/PyCQA/flake8
-    rev: 4.0.1
-    hooks:
-    -   id: flake8
-        args:
-        - --select=F,E112,E113,E304,E501,E502,E701,E702,E703,E71,E72,E731,W191,W6
-        - --exclude=tests/gmbitbang/*
-        - --max-line-length=160
-        - --statistics
--   repo: local
-    hooks:
-    -   id: pylint
-        name: pylint
-        entry: pylint
-        language: system
-        types: [python]
-        args:
-        - -rn
-        - -sn
-        - -j0
-        - --disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,W0719,W1203,W1514,E1136
-        - --generated-members="usb1.*"
+- 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: v1.6.1
+  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: v0.1.4
+  hooks:
+    - id: ruff
diff --git a/Dockerfile b/Dockerfile
@@ -51,12 +51,12 @@ RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-instal
 ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 
 ENV PANDA_PATH=/tmp/openpilot/panda
-ENV OPENPILOT_REF="e276d2a417a5133fb91c93b2ef30df68a7d5f225"
-ENV OPENDBC_REF="9ae9fbfe56f79dca66c673a6479751a15ad61780"
+ENV OPENPILOT_REF="5690386d8d731c9bebda536a5c71c890f6dfe98c"
+ENV OPENDBC_REF="12dd7675c5ab2f49aedb813a79e6131b370b379f"
 
 COPY requirements.txt /tmp/
-RUN pyenv install 3.8.10 && \
-    pyenv global 3.8.10 && \
+RUN pyenv install 3.11.4 && \
+    pyenv global 3.11.4 && \
     pyenv rehash && \
     pip install --no-cache-dir -r /tmp/requirements.txt
 
@@ -80,13 +80,6 @@ RUN cd /tmp && \
     rm -rf /tmp/openpilot/panda && \
     rm -rf /tmp/tmppilot
 
-RUN cd /tmp/openpilot && \
-    git clone https://github.com/commaai/panda_jungle.git && \
-    cd panda_jungle && \
-    git fetch && \
-    git checkout 3a791be1f1877a69cf45de16a670992380622297 && \
-    rm -rf .git/
-
 RUN cd /tmp/openpilot && \
     pip install --no-cache-dir -r opendbc/requirements.txt && \
     pip install --no-cache-dir --upgrade aenum lru-dict pycurl tenacity atomicwrites serial smbus2

diff --git a/Jenkinsfile b/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}"
 
@@ -82,7 +80,8 @@ pipeline {
           steps {
             phone_steps("panda-dos", [
               ["build", "scons -j4"],
-              ["flash", "cd tests/ && ./ci_reset_internal_hw.py"],
+              ["flash", "cd tests/ && ./reflash_internal_panda.py"],
+              ["flash jungle", "cd board/jungle && ./flash.py"],
               ["test", "cd tests/hitl && HW_TYPES=6 pytest --durations=0 [2-7]*.py -k 'not test_send_recv'"],
             ])
           }
@@ -93,7 +92,8 @@ pipeline {
           steps {
             phone_steps("panda-tres", [
               ["build", "scons -j4"],
-              ["flash", "cd tests/ && ./ci_reset_internal_hw.py"],
+              ["flash", "cd tests/ && ./reflash_internal_panda.py"],
+              ["flash jungle", "cd board/jungle && ./flash.py"],
               ["test", "cd tests/hitl && HW_TYPES=9 pytest --durations=0 2*.py [5-9]*.py"],
             ])
           }
@@ -114,15 +114,24 @@ pipeline {
                 }
               }
             }
-            stage('prep') {
+            stage('jungle tests') {
               steps {
                 script {
                   retry (3) {
-                    docker_run("reset hardware", 3, "python ./tests/ci_reset_hw.py")
+                    docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py")
                   }
                 }
               }
             }
+            stage('bootkick tests') {
+              steps {
+                script {
+                  docker_run("test", 10, "pytest ./tests/som/test_bootkick.py")
+                }
+              }
+            }
+
+            /*
             stage('pedal tests') {
               steps {
                 script {
@@ -133,7 +142,8 @@ pipeline {
             stage('HITL tests') {
               steps {
                 script {
-                  docker_run("HITL tests", 35, 'PANDAS_JUNGLE=23002d000851393038373731 PANDAS_EXCLUDE="1d0002000c51303136383232 2f002e000c51303136383232" ./tests/hitl/test.sh')
+                  docker_run("parallel tests", 5, 'PANDAS_JUNGLE=23002d000851393038373731 PANDAS_EXCLUDE="1d0002000c51303136383232 2f002e000c51303136383232" ./tests/hitl/run_parallel_tests.sh')
+                  docker_run("serial tests", 9, 'PANDAS_JUNGLE=23002d000851393038373731 PANDAS_EXCLUDE="1d0002000c51303136383232 2f002e000c51303136383232" ./tests/hitl/run_serial_tests.sh')
                 }
               }
             }
@@ -144,6 +154,7 @@ pipeline {
                 }
               }
             }
+            */
           }
         }
       }

diff --git a/README.md b/README.md
@@ -1,15 +1,13 @@
 # Welcome to panda
 
+![panda tests](https://github.com/commaai/panda/workflows/tests/badge.svg)
+![panda drivers](https://github.com/commaai/panda/workflows/drivers/badge.svg)
+
 [panda](http://github.com/commaai/panda) is the nicest universal car interface ever.
 
 <a href="https://comma.ai/shop/products/panda-obd-ii-dongle"><img src="https://github.com/commaai/panda/blob/master/panda.png?raw=true"></a>
 
-It supports 3x CAN, 2x LIN, and 1x GMLAN. It also charges a phone. On the computer side, it has USB.
-
-It uses an [STM32F413](http://www.st.com/en/microcontrollers/stm32f413-423.html?querycriteria=productId=LN2004).
-
-![panda tests](https://github.com/commaai/panda/workflows/tests/badge.svg)
-![panda drivers](https://github.com/commaai/panda/workflows/drivers/badge.svg)
+panda speaks CAN, CAN FD, LIN, and GMLAN. panda supports [STM32F205](https://www.st.com/resource/en/reference_manual/rm0033-stm32f205xx-stm32f207xx-stm32f215xx-and-stm32f217xx-advanced-armbased-32bit-mcus-stmicroelectronics.pdf), [STM32F413](https://www.st.com/resource/en/reference_manual/rm0430-stm32f413423-advanced-armbased-32bit-mcus-stmicroelectronics.pdf), and [STM32H725](https://www.st.com/resource/en/reference_manual/rm0468-stm32h723733-stm32h725735-and-stm32h730-value-line-advanced-armbased-32bit-mcus-stmicroelectronics.pdf).
 
 ## Usage
 
@@ -21,7 +19,7 @@ sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git
 ```bash
 # macOS
 brew install --cask gcc-arm-embedded
-brew install python3 dfu-util gcc@12
+brew install python3 dfu-util gcc@13
 ```
 
 Clone panda repository:
@@ -84,7 +82,7 @@ As a universal car interface, it should support every reasonable software interf
 
 ## Programming
 
-See `board/README.md`
+See [`board/README.md`](board/README.md)
 
 ## Debugging
 
@@ -112,7 +110,7 @@ to ensure that the behavior remains unchanged.
     * compiling the code and flashing it through USB.
     * receiving, sending, and forwarding CAN messages on all buses, over USB.
 
-In addition, we run the [pylint](https://www.pylint.org/) and [flake8](https://github.com/PyCQA/flake8) linters on all python files within the panda repo.
+In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) on all python files within the panda repo.
 
 ## Hardware