speedup panda startup + test (#31955)

* faster panda startup

* 10hz signal

* more iters

* nothing

* comment

* usb is slow :/

---------

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/boardd/pandad.py

@@ -155,10 +155,7 @@ def main() -> NoReturn:
         if first_run:
           # reset panda to ensure we're in a good state
           cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-          if panda.is_internal():
-            HARDWARE.reset_internal_panda()
-          else:
-            panda.reset(reconnect=False)
+          panda.reset(reconnect=False)
 
       for p in pandas:
         p.close()

selfdrive/boardd/tests/test_pandad.py

@@ -23,23 +23,28 @@ class TestPandad(unittest.TestCase):
     if len(Panda.list()) == 0:
       self._run_test(60)
 
+    self.spi = HARDWARE.get_device_type() != 'tici'
+
   def tearDown(self):
     managed_processes['pandad'].stop()
 
-  def _run_test(self, timeout=30):
+  def _run_test(self, timeout=30) -> float:
+    st = time.monotonic()
+    sm = messaging.SubMaster(['pandaStates'])
+
     managed_processes['pandad'].start()
-
-    sm = messaging.SubMaster(['peripheralState'])
-    for _ in range(timeout*10):
+    while (time.monotonic() - st) < timeout:
       sm.update(100)
-      if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
+      if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown:
         break
-
+    dt = time.monotonic() - st
     managed_processes['pandad'].stop()
 
-    if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
+    if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown:
       raise Exception("boardd failed to start")
 
+    return dt
+
   def _go_to_dfu(self):
     HARDWARE.recover_internal_panda()
     assert Panda.wait_for_dfu(None, 10)
@@ -88,14 +93,24 @@ class TestPandad(unittest.TestCase):
     assert any(Panda(s).is_internal() for s in Panda.list())
 
   def test_best_case_startup_time(self):
-    # run once so we're setup
+    # run once so we're up to date
     self._run_test(60)
 
-    # should be fast this time
-    self._run_test(8)
+    ts = []
+    for _ in range(10):
+      # should be nearly instant this time
+      dt = self._run_test(5)
+      ts.append(dt)
+
+    # 2s for SPI, 5s for USB (due to enumeration)
+    #  0.2s pandad -> boardd
+    #  1.1s panda boot time (FIXME: it's all the drivers/harness.h init)
+    #  plus some buffer
+    assert 1.0 < (sum(ts)/len(ts)) < (2.0 if self.spi else 5.0)
+    print("startup times", ts, sum(ts) / len(ts))
 
   def test_protocol_version_check(self):
-    if HARDWARE.get_device_type() == 'tici':
+    if not self.spi:
       raise unittest.SkipTest("SPI test")
     # flash old fw
     fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")