Sync: commaai/panda:master → sunnypilot/panda:master

.github/workflows/test.yaml

@@ -23,14 +23,10 @@ jobs:
       - run: ./setup.sh
       - name: Test python package installer
         run: ${{ env.RUN }} "pip install --break-system-packages .[dev]"
-      - name: Build panda images and bootstub
-        run: ${{ env.RUN }} "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"
-      - name: Build panda in release mode
-        run: ${{ env.RUN }} "CERT=certs/debug RELEASE=1 scons -j4"
+      - name: Build debug FW
+        run: ${{ env.RUN }} "scons"
+      - name: Build release FW
+        run: ${{ env.RUN }} "CERT=board/certs/debug RELEASE=1 scons"
 
   test:
     name: ./test.sh
@@ -58,28 +54,3 @@ jobs:
         run: uv pip install --system .
       - name: Verify importing panda
         run: python -c "from panda import Panda"
-
-
-  misra_linter:
-    name: MISRA C:2012 Linter
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-    steps:
-      - uses: actions/checkout@v4
-      - run: ./setup.sh
-      - name: Build FW
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: Run MISRA C:2012 analysis
-        run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
-
-  misra_mutation:
-    name: MISRA C:2012 Mutation
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-    steps:
-      - uses: actions/checkout@v4
-      - run: ./setup.sh
-      - name: Build FW
-        run: ${{ env.RUN }} "scons -j$(nproc)"
-      - name: MISRA mutation tests
-        run: ${{ env.RUN }} "cd tests/misra && pytest test_mutation.py"

Jenkinsfile

@@ -6,7 +6,7 @@ def docker_run(String step_label, int timeout_mins, String cmd) {
           --volume /var/run/dbus:/var/run/dbus \
           --net host \
           ${env.DOCKER_IMAGE_TAG} \
-          bash -c 'scons -j8 && ${cmd}'", \
+          bash -c 'scons && ${cmd}'", \
         label: step_label
   }
 }
@@ -111,7 +111,7 @@ pipeline {
               agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
               steps {
                 phone_steps("panda-cuatro", [
-                  ["build", "scons -j4"],
+                  ["build", "scons"],
                   ["flash", "cd scripts/ && ./reflash_internal_panda.py"],
                   ["flash jungle", "cd board/jungle && ./flash.py --all"],
                   ["test", "cd tests/hitl && pytest --durations=0 2*.py [5-9]*.py"],
@@ -123,7 +123,7 @@ pipeline {
               agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
               steps {
                 phone_steps("panda-tres", [
-                  ["build", "scons -j4"],
+                  ["build", "scons"],
                   ["flash", "cd scripts/ && ./reflash_internal_panda.py"],
                   ["flash jungle", "cd board/jungle && ./flash.py --all"],
                   ["test", "cd tests/hitl && pytest --durations=0 2*.py [5-9]*.py"],
@@ -131,15 +131,6 @@ pipeline {
               }
             }
 
-            /*
-            stage('bootkick tests') {
-              steps {
-                script {
-                  docker_run("test", 10, "pytest ./tests/som/test_bootkick.py")
-                }
-              }
-            }
-            */
           }
         }
       }

README.md

@@ -7,7 +7,6 @@ panda speaks CAN and CAN FD, and it runs on the [STM32H725](https://www.st.com/r
 ```
 .
 ├── board           # Code that runs on the STM32
-├── drivers         # Drivers (not needed for use with Python)
 ├── python          # Python userspace library for interfacing with the panda
 ├── tests           # Tests for panda
 ├── scripts         # Miscellaneous used for panda development and debugging
@@ -16,7 +15,7 @@ panda speaks CAN and CAN FD, and it runs on the [STM32H725](https://www.st.com/r
 
 ## Safety Model
 
-panda is compiled with safety firmware provided by [opendbc](https://github.com/commaai/opendbc). See details about the car safety models, safety testing, and code rigor in that repository.
+panda is compiled with vehicle-specific safety logic provided by [opendbc](https://github.com/commaai/opendbc). See details about the car safety models, safety testing, and code rigor in that repository.
 
 ## Code Rigor
 
@@ -26,19 +25,18 @@ The panda firmware is written for its use in conjunction with [openpilot](https:
 These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place:
 * A generic static code analysis is performed by [cppcheck](https://github.com/danmar/cppcheck/).
 * In addition, [cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://misra.org.uk/) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
-* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced.
+* Compiler options are strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced.
 * The [safety logic](https://github.com/commaai/panda/tree/master/opendbc/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/opendbc/safety/tests) for each supported car variant.
 to ensure that the behavior remains unchanged.
 * A hardware-in-the-loop test verifies panda's functionalities on all active panda variants, including:
   * additional safety model checks
   * compiling and flashing the bootstub and app code
   * receiving, sending, and forwarding CAN messages on all buses
-  * CAN loopback and latency tests through USB and SPI
+  * CAN loopback and latency tests through SPI
 
 The above tests are themselves tested by:
 * a [mutation test](tests/misra/test_mutation.py) on the MISRA coverage
-
-In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [mypy](https://mypy-lang.org/) on panda's Python library.
+* a [mutation test]([tests/misra/test_mutation.py](https://github.com/commaai/opendbc/blob/master/opendbc/safety/tests/mutation.sh)) on the vehicle-specific safety logic
 
 ## Usage
 
@@ -81,11 +79,6 @@ sudo udevadm control --reload-rules && sudo udevadm trigger
 
 The panda jungle uses different udev rules. See [the repo](https://github.com/commaai/panda_jungle#udev-rules) for instructions.
 
-## Software interface support
-
-- [Python library](https://github.com/commaai/panda/tree/master/python)
-- [C++ library](https://github.com/commaai/openpilot/tree/master/selfdrive/pandad)
-
 ## Licensing
 
 panda software is released under the MIT license unless otherwise specified.

SConscript

@@ -14,7 +14,7 @@ if os.getenv("RELEASE"):
   assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path'
 else:
   BUILD_TYPE = "DEBUG"
-  cert_fn = File("./certs/debug").srcnode().relpath
+  cert_fn = File("./board/certs/debug").srcnode().relpath
   common_flags += ["-DALLOW_DEBUG"]
 
   if os.getenv("DEBUG"):
@@ -33,7 +33,7 @@ def get_version(builder, build_type):
 def get_key_header(name):
   from Crypto.PublicKey import RSA
 
-  public_fn = File(f'./certs/{name}.pub').srcnode().get_path()
+  public_fn = File(f'./board/certs/{name}.pub').srcnode().get_path()
   with open(public_fn) as f:
     rsa = RSA.importKey(f.read())
   assert(rsa.size_in_bits() == 1024)
@@ -105,8 +105,8 @@ def build_project(project_name, project, main, extra_flags):
   bs_env.Append(CFLAGS="-DBOOTSTUB", ASFLAGS="-DBOOTSTUB", LINKFLAGS="-DBOOTSTUB")
   bs_elf = bs_env.Program(f"{project_dir}/bootstub.elf", [
     startup,
-    "./crypto/rsa.c",
-    "./crypto/sha.c",
+    "./board/crypto/rsa.c",
+    "./board/crypto/sha.c",
     "./board/bootstub.c",
   ])
   bs_env.Objcopy(f"./board/obj/bootstub.{project_name}.bin", bs_elf)
@@ -117,7 +117,7 @@ def build_project(project_name, project, main, extra_flags):
     main
   ], LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags)
   main_bin = env.Objcopy(f"{project_dir}/main.bin", main_elf)
-  sign_py = File(f"./crypto/sign.py").srcnode().relpath
+  sign_py = File(f"./board/crypto/sign.py").srcnode().relpath
   env.Command(f"./board/obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
 
 
@@ -157,13 +157,10 @@ build_project("panda_h7", base_project_h7, "./board/main.c", [])
 flags = [
   "-DPANDA_JUNGLE",
 ]
-if os.getenv("FINAL_PROVISIONING"):
-  flags += ["-DFINAL_PROVISIONING"]
 build_project("panda_jungle_h7", base_project_h7, "./board/jungle/main.c", flags)
 
 # body fw
 build_project("body_h7", base_project_h7, "./board/body/main.c", ["-DPANDA_BODY"])
 
 # test files
-if GetOption('extras'):
-  SConscript('tests/libpanda/SConscript')
+SConscript('tests/libpanda/SConscript')

SConstruct

@@ -1,18 +1,12 @@
-AddOption('--minimal',
-          action='store_false',
-          dest='extras',
-          default=True,
-          help='the minimum build. no tests, tools, etc.')
-
-AddOption('--ubsan',
-          action='store_true',
-          help='turn on UBSan')
+import os
 
 env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   tools=["default", "compilation_db"],
 )
 
+SetOption('num_jobs', max(1, int((os.cpu_count() or 1)-1)))
+
 env.CompilationDatabase("compile_commands.json")
 
 # panda fw & test files

board/bootstub.c

@@ -11,8 +11,8 @@
 #include "board/early_init.h"
 #include "board/provision.h"
 
-#include "crypto/rsa.h"
-#include "crypto/sha.h"
+#include "board/crypto/rsa.h"
+#include "board/crypto/sha.h"
 
 #include "board/obj/cert.h"
 #include "board/obj/gitversion.h"

board/can_comms.h

@@ -3,6 +3,28 @@
   a certain number of CANPacket_t. The transaction is split
   into multiple transfers or chunks.
 
+  CAN packet byte layout (wire format used by comms_can_{read,write}):
+  +--------+--------+--------+--------+--------+--------+--------+------------------------------+
+  | byte 0 | byte 1 | byte 2 | byte 3 | byte 4 | byte 5 | byte 6 | ... byte 13 / byte 69        |
+  +--------+--------+--------+--------+--------+--------+--------+------------------------------+
+  | DLC    | addr   | addr   | addr   | flags  | cksum  | data0  | ... data7 / data63           |
+  | bus    |        |        |        |        |        |        | (classic CAN / CAN FD)       |
+  | fd     |        |        |        |        |        |        |                              |
+  +--------+--------+--------+--------+--------+--------+--------+------------------------------+
+  Byte/bit fields:
+    byte 0: DLC[7:4], bus[3:1], fd[0]
+    bytes 1..4: (addr << 3) | (extended << 2) | (returned << 1) | rejected
+    byte 5: checksum = XOR(header[0..4] + payload)
+    bytes 6..13 (classic CAN, up to 8 bytes) / bytes 6..69 (CAN FD, up to 64 bytes): payload
+
+  USB/SPI transfer chunking used by this file:
+  +--------------------------------------------+   ...   +--------------------------------------------+
+  | transport chunk 0                          |         | transport chunk N                          |
+  +--------------------------------------------+         +--------------------------------------------+
+  | concatenated CANPacket_t bytes             |         | continuation and/or next CANPacket_t bytes |
+  | (no per-64-byte counter/header in protocol)|         |                                            |
+  +--------------------------------------------+         +--------------------------------------------+
+
   * comms_can_read outputs this buffer in chunks of a specified length.
     chunks are always the given length, except the last one.
   * comms_can_write reads in this buffer in chunks.

board/drivers/clock_source.h

@@ -7,9 +7,10 @@ void clock_source_set_timer_params(uint16_t param1, uint16_t param2) {
   // Pulse length of each channel
   register_set(&(TIM1->CCR1), (((param1 & 0xFF00U) >> 8U)*10U), 0xFFFFU);
   register_set(&(TIM1->CCR2), ((param1 & 0x00FFU)*10U), 0xFFFFU);
-  register_set(&(TIM1->CCR3), (((param2 & 0xFF00U) >> 8U)*10U), 0xFFFFU);
+  register_set(&(TIM8->CCR3), (((param2 & 0xFF00U) >> 8U)*10U), 0xFFFFU);
   // Timer period
   register_set(&(TIM1->ARR),  (((param2 & 0x00FFU)*10U) - 1U), 0xFFFFU);
+  register_set(&(TIM1->CCR4), ((TIM1->ARR + 1U) / 2U), 0xFFFFU);
 }
 
 void clock_source_init(bool enable_channel1) {
@@ -17,12 +18,12 @@ void clock_source_init(bool enable_channel1) {
   register_set(&(TIM1->PSC), ((APB2_TIMER_FREQ*100U)-1U), 0xFFFFU);           // Tick on 0.1 ms
   register_set(&(TIM1->ARR), ((CLOCK_SOURCE_PERIOD_MS*10U) - 1U), 0xFFFFU);   // Period
   register_set(&(TIM1->CCMR1), 0U, 0xFFFFU);                                  // No output on compare
-  register_set(&(TIM1->CCER), TIM_CCER_CC1E, 0xFFFFU);                        // Enable compare 1
+  register_set(&(TIM1->CCER), TIM_CCER_CC1E | TIM_CCER_CC2NE, 0xFFFFU);       // Enable compares
   register_set(&(TIM1->CCR1), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU);      // Compare 1 value
-  register_set(&(TIM1->CCR2), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU);      // Compare 1 value
-  register_set(&(TIM1->CCR3), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU);      // Compare 1 value
+  register_set(&(TIM1->CCR2), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU);      // Compare 2 value
+  register_set(&(TIM1->CCR4), (CLOCK_SOURCE_PERIOD_MS*5U), 0xFFFFU);          // For slave timer
   register_set_bits(&(TIM1->DIER), TIM_DIER_UIE | TIM_DIER_CC1IE);            // Enable interrupts
-  register_set(&(TIM1->CR1), TIM_CR1_CEN, 0x3FU);                             // Enable timer
+
 
   // No interrupts
   NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
@@ -33,15 +34,33 @@ void clock_source_init(bool enable_channel1) {
     set_gpio_alternate(GPIOA, 8, GPIO_AF1_TIM1);
   }
   set_gpio_alternate(GPIOB, 14, GPIO_AF1_TIM1);
-  set_gpio_alternate(GPIOB, 15, GPIO_AF1_TIM1);
 
   // Set PWM mode
   register_set(&(TIM1->CCMR1), (0b110UL << TIM_CCMR1_OC1M_Pos) | (0b110UL << TIM_CCMR1_OC2M_Pos), 0xFFFFU);
-  register_set(&(TIM1->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos), 0xFFFFU);
+  register_set(&(TIM1->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos) | (0b111UL << TIM_CCMR2_OC4M_Pos), 0xFFFFU);
 
   // Enable output
   register_set(&(TIM1->BDTR), TIM_BDTR_MOE, 0xFFFFU);
 
-  // Enable complementary compares
-  register_set_bits(&(TIM1->CCER), TIM_CCER_CC2NE | TIM_CCER_CC3NE);
+  // Sync with slave
+  register_set(&(TIM1->SMCR), TIM_SMCR_MSM , 0xFFFFU);
+  register_set(&(TIM1->CR2), (0b0111U << TIM_CR2_MMS_Pos), 0xFFFFU);
+  register_set(&(TIM8->SMCR), (0b0100U << TIM_SMCR_SMS_Pos) | (0b000U << TIM_SMCR_TS_Pos), 0xFFFFU);
+
+  // Setup slave timer (TIM8)
+  register_set(&(TIM8->PSC), TIM1->PSC, 0xFFFFU);
+  register_set(&(TIM8->ARR), TIM1->ARR, 0xFFFFU);
+  register_set(&(TIM8->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos), 0xFFFFU);
+  register_set(&(TIM8->CCR3), (CLOCK_SOURCE_PULSE_LEN_MS * 10U), 0xFFFFU);
+  register_set(&(TIM8->CCER), TIM_CCER_CC3NE, 0xFFFFU);
+
+  // MOE for TIM8 as well
+  register_set(&(TIM8->BDTR), TIM_BDTR_MOE, 0xFFFFU);
+
+  // Set GPIO
+  set_gpio_alternate(GPIOB, 15, GPIO_AF3_TIM8);
+
+  // Enable timers
+  register_set(&(TIM1->CR1), TIM_CR1_CEN, 0x3FU);
+  register_set(&(TIM8->CR1), TIM_CR1_CEN, 0x3FU);
 }

board/jungle/main.c

@@ -75,11 +75,6 @@ void tick_handler(void) {
       // turn off the blue LED, turned on by CAN
       led_set(LED_BLUE, false);
 
-      // Blink and OBD CAN
-#ifdef FINAL_PROVISIONING
-      current_board->set_can_mode(can_mode == CAN_MODE_NORMAL ? CAN_MODE_OBD_CAN2 : CAN_MODE_NORMAL);
-#endif
-
       // on to the next one
       uptime_cnt += 1U;
     }
@@ -91,33 +86,12 @@ void tick_handler(void) {
       current_board->set_panda_power(!panda_power);
     }
 
-#ifdef FINAL_PROVISIONING
-    // Ignition blinking
-    uint8_t ignition_bitmask = 0U;
-    for (uint8_t i = 0U; i < 6U; i++) {
-      ignition_bitmask |= ((loop_counter % 12U) < ((uint32_t) i + 2U)) << i;
-    }
-    current_board->set_individual_ignition(ignition_bitmask);
-
-    // SBU voltage reporting
-    for (uint8_t i = 0U; i < 6U; i++) {
-      CANPacket_t pkt = { 0 };
-      pkt.data_len_code = 8U;
-      pkt.addr = 0x100U + i;
-      *(uint16_t *) &pkt.data[0] = current_board->get_sbu_mV(i + 1U, SBU1);
-      *(uint16_t *) &pkt.data[2] = current_board->get_sbu_mV(i + 1U, SBU2);
-      pkt.data[4] = (ignition_bitmask >> i) & 1U;
-      can_set_checksum(&pkt);
-      can_send(&pkt, 0U, false);
-    }
-#else
     // toggle ignition on button press
     static bool prev_button_status = false;
     if (!current_button_status && prev_button_status && button_press_cnt < 10){
       current_board->set_ignition(!ignition);
     }
     prev_button_status = current_button_status;
-#endif
 
     button_press_cnt = current_button_status ? button_press_cnt + 1 : 0;
 
@@ -181,12 +155,6 @@ int main(void) {
   can_init_all();
   current_board->set_harness_orientation(HARNESS_ORIENTATION_1);
 
-#ifdef FINAL_PROVISIONING
-  print("---- FINAL PROVISIONING BUILD ---- \n");
-  can_set_forwarding(0, 2);
-  can_set_forwarding(1, 2);
-#endif
-
   // LED should keep on blinking all the time
   uint32_t cnt = 0;
   for (cnt=0;;cnt++) {

pyproject.toml

@@ -13,7 +13,11 @@ classifiers = [
 ]
 dependencies = [
   "libusb1",
+  "libusb-package",
   "opendbc @ git+https://github.com/sunnypilot/opendbc.git@master#egg=opendbc",
+
+  # runtime dependency on comma four
+  #"spidev; platform_system == 'Linux'",
 ]
 
 [project.optional-dependencies]
@@ -23,13 +27,11 @@ dev = [
   "cffi",
   "flaky",
   "pytest",
+  "pytest-xdist",
   "pytest-mock",
   "pytest-timeout",
-  "pytest-randomly",
   "ruff",
-  "mypy",
   "setuptools",
-  "spidev; platform_system == 'Linux'",
   "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
   "cppcheck @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=cppcheck",
 ]
@@ -50,18 +52,6 @@ packages = [
 [tool.setuptools.package-dir]
 panda = "."
 
-[tool.mypy]
-# third-party packages
-ignore_missing_imports = true
-
-# helpful warnings
-warn_redundant_casts = true
-warn_unreachable = true
-warn_unused_ignores = true
-
-# restrict dynamic typing
-warn_return_any = true
-
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 line-length = 160
@@ -76,7 +66,7 @@ flake8-implicit-str-concat.allow-multiline=false
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 
 [tool.pytest.ini_options]
-addopts = "-Werror --strict-config --strict-markers --durations=10 --ignore-glob='*.sh' --ignore=tests/misra --ignore=tests/som --ignore=tests/hitl"
+addopts = "-Werror --strict-config --strict-markers --maxprocesses=8 -nauto --durations=10 --ignore-glob='*.sh' --ignore=tests/som --ignore=tests/hitl"
 python_files = "test_*.py"
 testpaths = [
   "tests/"

python/__init__.py

@@ -6,6 +6,7 @@ import usb1
 import struct
 import hashlib
 import binascii
+import ctypes
 from functools import wraps, partial
 from itertools import accumulate
 
@@ -18,6 +19,14 @@ from .spi import PandaSpiHandle, PandaSpiException, PandaProtocolMismatch
 from .usb import PandaUsbHandle
 from .utils import logger
 
+# load libusb from pip package
+try:
+  import libusb_package
+  usb1._libusb1.loadLibrary(ctypes.CDLL(str(libusb_package.get_library_path())))
+except ImportError:
+  # TODO: remove this on next AGNOS update
+  pass
+
 __version__ = '0.0.10'
 
 CANPACKET_HEAD_SIZE = 0x6

setup.sh

@@ -17,10 +17,8 @@ elif [[ $PLATFORM == "Linux" ]]; then
   fi
 
   sudo apt-get install -y --no-install-recommends \
-    curl ca-certificates \
-    make g++ git \
-    libusb-1.0-0 \
-    python3-dev python3-pip python3-venv
+    curl ca-certificates gcc git \
+    python3-dev
 else
   echo "WARNING: unsupported platform. skipping apt/brew install."
 fi

test.sh

@@ -8,14 +8,8 @@ cd $DIR
 source ./setup.sh
 
 # *** build ***
-scons -j8
+scons
 
-# *** lint ***
+# *** lint + test ***
 ruff check .
-mypy python/
-
-
-# *** test ***
-
-# TODO: make randomly work
-pytest --randomly-dont-reorganize tests/
+pytest

tests/libpanda/SConscript

@@ -1,19 +1,6 @@
 import opendbc
-import platform
-
-CC = 'gcc'
-system = platform.system()
-mac_ver = platform.mac_ver()
-
-# gcc installed by homebrew has version suffix (e.g. gcc-12) in order to be
-# distinguishable from system one - which acts as a symlink to clang
-# clang works on macOS 15 and greater but has issues on earlier macOS versions.
-# see: https://github.com/commaai/openpilot/issues/35093
-if system == 'Darwin' and mac_ver[0] and mac_ver[0] < '15':
-  CC += '-13'
 
 env = Environment(
-  CC=CC,
   CFLAGS=[
     '-nostdlib',
     '-fno-builtin',
@@ -23,16 +10,6 @@ env = Environment(
   ],
   CPPPATH=[".", "../../", "../../board/", opendbc.INCLUDE_PATH],
 )
-if system == "Darwin":
-  env.PrependENVPath('PATH', '/opt/homebrew/bin')
-
-if GetOption('ubsan'):
-  flags = [
-    "-fsanitize=undefined",
-    "-fno-sanitize-recover=undefined",
-  ]
-  env['CFLAGS'] += flags
-  env['LINKFLAGS'] += flags
 
 panda = env.SharedObject("panda.os", "panda.c")
 libpanda = env.SharedLibrary("libpanda.so", [panda])

tests/misra/test_misra.sh

@@ -24,7 +24,7 @@ fi
 
 cd $PANDA_DIR
 if [ -z "${SKIP_BUILD}" ]; then
-  scons -j8
+  scons
 fi
 
 CHECKLIST=$DIR/checkers.txt

tests/misra/test_mutation.py

@@ -10,6 +10,7 @@ import random
 HERE = os.path.abspath(os.path.dirname(__file__))
 ROOT = os.path.join(HERE, "../../")
 
+# skip mutating these paths
 IGNORED_PATHS = (
   'board/obj',
   'board/jungle',
@@ -53,14 +54,16 @@ patterns = [
 ]
 
 all_files = glob.glob('board/**', root_dir=ROOT, recursive=True)
-files = [f for f in all_files if f.endswith(('.c', '.h')) and not f.startswith(IGNORED_PATHS)]
+files = sorted(f for f in all_files if f.endswith(('.c', '.h')) and not f.startswith(IGNORED_PATHS))
 assert len(files) > 50, all(d in files for d in ('board/main.c', 'board/stm32h7/llfdcan.h'))
 
+# fixed seed so every xdist worker collects the same test params
+rng = random.Random(len(files))
 for p in patterns:
-  mutations.append((random.choice(files), p, True))
+  mutations.append((rng.choice(files), p, True))
 
-# TODO: remove sampling once test_misra.sh is faster
-mutations = random.sample(mutations, 2)
+# sample to keep CI fast, but always include the no-mutation case
+mutations = [mutations[0]] + rng.sample(mutations[1:], min(2, len(mutations) - 1))
 
 @pytest.mark.parametrize("fn, patch, should_fail", mutations)
 def test_misra_mutation(fn, patch, should_fail):
@@ -69,8 +72,16 @@ def test_misra_mutation(fn, patch, should_fail):
 
     # apply patch
     if fn is not None:
-      r = os.system(f"cd {tmp}/panda && sed -i '{patch}' {fn}")
-      assert r == 0
+      fpath = os.path.join(tmp, "panda", fn)
+      with open(fpath) as f:
+        content = f.read()
+      if patch.startswith("s/"):
+        old, new = patch[2:].rsplit("/g", 1)[0].split("/", 1)
+        content = content.replace(old, new)
+      elif patch.startswith("$a "):
+        content += patch[3:].replace(r"\n", "\n")
+      with open(fpath, "w") as f:
+        f.write(content)
 
     # run test
     r = subprocess.run("SKIP_TABLES_DIFF=1 panda/tests/misra/test_misra.sh", cwd=tmp, shell=True)

tests/som/on-device.py

@@ -1,25 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-
-from opendbc.car.structs import CarParams
-from panda import Panda
-
-
-if __name__ == "__main__":
-  flag_set = False
-  while True:
-    try:
-      with Panda(disable_checks=False) as p:
-        if not flag_set:
-          p.set_heartbeat_disabled()
-          p.set_safety_mode(CarParams.SafetyModel.elm327, 30)
-          flag_set = True
-
-        # shutdown when told
-        ch = p.can_health(0)
-        if ch['can_data_speed'] == 1000:
-          os.system("sudo poweroff")
-    except Exception as e:
-      print(str(e))
-    time.sleep(0.5)

tests/som/test_bootkick.py

@@ -1,154 +0,0 @@
-import time
-import pytest
-
-from opendbc.car.structs import CarParams
-from panda import Panda, PandaJungle
-
-PANDA_SERIAL = "300008001851333037333932"
-JUNGLE_SERIAL = "26001c001451313236343430"
-
-OBDC_PORT = 1
-
-@pytest.fixture(autouse=True, scope="function")
-def pj():
-  jungle = PandaJungle(JUNGLE_SERIAL)
-  jungle.flash()
-
-  jungle.reset()
-  jungle.set_ignition(False)
-
-  yield jungle
-
-  #jungle.set_panda_power(False)
-  jungle.close()
-
-@pytest.fixture(scope="function")
-def p(pj):
-  # note that the 3X's panda lib isn't updated, which
-  # shold be fine since it only uses stable APIs
-  pj.set_panda_power(True)
-  assert Panda.wait_for_panda(PANDA_SERIAL, 10)
-  p = Panda(PANDA_SERIAL)
-  p.flash()
-  p.reset()
-  yield p
-  p.close()
-
-def setup_state(panda, jungle, state):
-  jungle.set_panda_power(0)
-
-  if state == "off":
-    wait_for_full_poweroff(jungle)
-  elif state == "normal boot":
-    jungle.set_panda_individual_power(OBDC_PORT, 1)
-  elif state == "QDL":
-    time.sleep(0.5)
-    jungle.set_panda_individual_power(OBDC_PORT, 1)
-  elif state == "ready to bootkick":
-    wait_for_full_poweroff(jungle)
-    jungle.set_panda_individual_power(OBDC_PORT, 1)
-    wait_for_boot(panda, jungle)
-    set_som_shutdown_flag(panda)
-    panda.set_safety_mode(CarParams.SafetyModel.silent)
-    panda.send_heartbeat()
-    wait_for_som_shutdown(panda, jungle)
-  else:
-    raise ValueError(f"unkown state: {state}")
-
-
-def wait_for_som_shutdown(panda, jungle):
-  st = time.monotonic()
-  while panda.read_som_gpio():
-    # can take a while for the SOM to fully shutdown
-    if time.monotonic() - st > 120:
-      raise Exception("SOM didn't shutdown in time")
-    if check_som_boot_flag(panda):
-      raise Exception(f"SOM rebooted instead of shutdown: {time.monotonic() - st}s")
-    time.sleep(0.5)
-    dt = time.monotonic() - st
-    print("waiting for shutdown", round(dt))
-  dt = time.monotonic() - st
-  print(f"took {dt:.2f}s for SOM to shutdown")
-
-def wait_for_full_poweroff(jungle, timeout=30):
-  st = time.monotonic()
-
-  time.sleep(15)
-  while PANDA_SERIAL in Panda.list():
-    if time.monotonic() - st > timeout:
-      raise Exception("took too long for device to turn off")
-
-  health = jungle.health()
-  assert all(health[f"ch{i}_power"] < 0.1 for i in range(1, 7))
-
-def check_som_boot_flag(panda):
-  h = panda.health()
-  return h['safety_mode'] == CarParams.SafetyModel.elm327 and h['safety_param'] == 30
-
-def set_som_shutdown_flag(panda):
-  panda.set_can_data_speed_kbps(0, 1000)
-
-def wait_for_boot(panda, jungle, reset_expected=False, bootkick=False, timeout=120):
-  st = time.monotonic()
-
-  Panda.wait_for_panda(PANDA_SERIAL, timeout)
-  panda.reconnect()
-  if bootkick:
-    assert panda.health()['uptime'] > 20
-  else:
-    assert panda.health()['uptime'] < 3
-
-  for i in range(3):
-    assert not check_som_boot_flag(panda)
-    time.sleep(1)
-
-  # wait for SOM to bootup
-  while not check_som_boot_flag(panda):
-    if time.monotonic() - st > timeout:
-      raise Exception("SOM didn't boot in time")
-    time.sleep(1.0)
-
-  assert panda.health()['som_reset_triggered'] == reset_expected
-
-def test_cold_boot(p, pj):
-  setup_state(p, pj, "off")
-  setup_state(p, pj, "normal boot")
-  wait_for_boot(p, pj)
-
-def test_bootkick_ignition_line(p, pj):
-  setup_state(p, pj, "ready to bootkick")
-  pj.set_ignition(True)
-  wait_for_boot(p, pj, bootkick=True)
-
-@pytest.mark.skip("test isn't reliable yet")
-def test_bootkick_can_ignition(p, pj):
-  setup_state(p, pj, "ready to bootkick")
-  for _ in range(10):
-    # Mazda ignition signal
-    pj.can_send(0x9E, b'\xc0\x00\x00\x00\x00\x00\x00\x00', 0)
-    time.sleep(0.5)
-  wait_for_boot(p, pj, bootkick=True)
-
-def test_recovery_from_qdl(p, pj):
-  setup_state(p, pj, "ready to bootkick")
-
-  # put into QDL using the FORCE_USB_BOOT pin
-  for i in range(10):
-    pj.set_header_pin(i, 1)
-
-  # try to boot
-  time.sleep(1)
-  pj.set_ignition(True)
-  time.sleep(3)
-
-  # release FORCE_USB_BOOT
-  for i in range(10):
-    pj.set_header_pin(i, 0)
-
-  # normally, this GPIO is set immediately since it's first enabled in the ABL
-  for i in range(17):
-    assert not p.read_som_gpio()
-    time.sleep(1)
-
-  # should boot after 45s
-  wait_for_boot(p, pj, reset_expected=True, bootkick=True, timeout=120)

tests/usbprotocol/test_comms.py

@@ -31,6 +31,7 @@ def random_can_messages(n, bus=None):
 
 class TestPandaComms(unittest.TestCase):
   def setUp(self):
+    lpp.set_safety_hooks(CarParams.SafetyModel.allOutput, 0)
     lpp.comms_can_reset()
 
   def test_tx_queues(self):
@@ -102,8 +103,6 @@ class TestPandaComms(unittest.TestCase):
 
 
   def test_can_send_usb(self):
-    lpp.set_safety_hooks(CarParams.SafetyModel.allOutput, 0)
-
     for bus in range(3):
       with self.subTest(bus=bus):
         for _ in range(100):