pandad: ensure panda is in a good state before each test case (#30151)

* pandad: ensure panda is in a good state before each test case

* less overhead

* fix pc

* update that

* Update selfdrive/boardd/tests/test_pandad.py

* update

selfdrive/boardd/tests/test_pandad.py

@@ -1,21 +1,26 @@
 #!/usr/bin/env python3
 import os
 import time
-import unittest
+import pytest
 
 import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
 from panda import Panda, PandaDFU, PandaProtocolMismatch
-from openpilot.selfdrive.test.helpers import phone_only
 from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.hardware.tici.pins import GPIO
 
 HERE = os.path.dirname(os.path.realpath(__file__))
 
 
-class TestPandad(unittest.TestCase):
+@pytest.mark.skipif(PC, reason="needs a panda")
+class TestPandad:
+
+  def setUp(self):
+    # ensure panda is up
+    if len(Panda.list()) == 0:
+      self._run_test(60)
 
   def tearDown(self):
     managed_processes['pandad'].stop()
@@ -54,7 +59,7 @@ class TestPandad(unittest.TestCase):
 
     assert Panda.wait_for_panda(None, 10)
     if expect_mismatch:
-      with self.assertRaises(PandaProtocolMismatch):
+      with pytest.raises(PandaProtocolMismatch):
         Panda()
     else:
       with Panda() as p:
@@ -62,19 +67,16 @@ class TestPandad(unittest.TestCase):
 
     self._run_test(45)
 
-  @phone_only
   def test_in_dfu(self):
     HARDWARE.recover_internal_panda()
     self._run_test(60)
 
-  @phone_only
   def test_in_bootstub(self):
     with Panda() as p:
       p.reset(enter_bootstub=True)
       assert p.bootstub
     self._run_test()
 
-  @phone_only
   def test_internal_panda_reset(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_set(GPIO.STM_RST_N, 1)
@@ -84,28 +86,22 @@ class TestPandad(unittest.TestCase):
 
     assert any(Panda(s).is_internal() for s in Panda.list())
 
-  @phone_only
   def test_best_case_startup_time(self):
     # run once so we're setup
-    self._run_test()
+    self._run_test(60)
 
     # should be fast this time
     self._run_test(8)
 
-  @phone_only
+  @pytest.mark.skipif(HARDWARE.get_device_type() == 'tici', reason="SPI test")
   def test_protocol_version_check(self):
-    if HARDWARE.get_device_type() == 'tici':
-      self.skipTest("")
-
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
     self._flash_bootstub_and_test(fn, expect_mismatch=True)
 
-  @phone_only
   def test_release_to_devel_bootstub(self):
     self._flash_bootstub_and_test(None)
 
-  @phone_only
   def test_recover_from_bad_bootstub(self):
     self._go_to_dfu()
     with PandaDFU(None) as pd:
@@ -115,7 +111,3 @@ class TestPandad(unittest.TestCase):
     self._assert_no_panda()
 
     self._run_test(60)
-
-
-if __name__ == "__main__":
-  unittest.main()