add powertest for mici (#38843)

Jenkinsfile

@@ -256,6 +256,7 @@ node {
         deviceStage("chestnut", "mici-chestnut-ci", ["UNSAFE=1", "CHESTNUT=1"], [
           step("build", "./openpilot/selfdrive/test/chestnut.sh"),
           step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py --chestnut"),
+          step("test power draw", "./openpilot/selfdrive/test/test_power_draw.py"),
         ])
       },
 

openpilot/common/hardware/comma/power_monitor.py

@@ -9,22 +9,25 @@ from openpilot.common.realtime import Ratekeeper
 from openpilot.common.filter_simple import FirstOrderFilter
 
 
-def read_power():
+def read_power(panda=None):
+  if panda is not None and panda.get_type() == panda.HW_TYPE_CUATRO:
+    health = panda.health()
+    return health['voltage'] * health['current'] / 1e6
   with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
     return int(f.read()) / 1e6
 
-def sample_power(seconds=5) -> list[float]:
+def sample_power(seconds=5, panda=None) -> list[float]:
   rate = 123
   rk = Ratekeeper(rate, print_delay_threshold=None)
 
   pwrs = []
   for _ in range(rate*seconds):
-    pwrs.append(read_power())
+    pwrs.append(read_power(panda))
     rk.keep_time()
   return pwrs
 
-def get_power(seconds=5):
-  pwrs = sample_power(seconds)
+def get_power(seconds=5, panda=None):
+  pwrs = sample_power(seconds, panda)
   return np.mean(pwrs)
 
 def wait_for_power(min_pwr, max_pwr, min_secs_in_range, timeout):

openpilot/selfdrive/test/test_power_draw.py

@@ -5,6 +5,8 @@ import time
 import unittest
 import numpy as np
 from dataclasses import dataclass
+from panda import Panda
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.test import OpenpilotTestCase
 from openpilot.common.utils import tabulate
 
@@ -14,11 +16,14 @@ from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
 from openpilot.common.hardware.comma.power_monitor import get_power
+from openpilot.selfdrive.modeld.helpers import chestnut_present
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.manager.manager import manager_cleanup
 
 SAMPLE_TIME = 2       # seconds to sample power
 MAX_WARMUP_TIME = 30  # seconds to wait for SAMPLE_TIME consecutive valid samples
+MICI = HARDWARE.get_device_type() == "mici"
+CHESTNUT = chestnut_present()
 
 @dataclass
 class Proc:
@@ -33,9 +38,10 @@ class Proc:
     return '+'.join(self.procs)
 
 
+# MICI readings exclude the separately powered Chestnut GPU.
 PROCS = [
-  Proc(['camerad'], 1.65, atol=0.4, msgs=['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']),
-  Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']),
+  Proc(['camerad'], 0.85 if MICI else 1.65, atol=0.4, msgs=['narrowRoadCameraState', 'wideRoadCameraState', 'cabinCameraState']),
+  Proc(['modeld'], 0.45 if MICI and CHESTNUT else 1.5, atol=0.2, msgs=['modelV2']),
   Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
@@ -46,6 +52,13 @@ class TestPowerDraw(OpenpilotTestCase):
 
   def setup_method(self):
     Params().put("CarParams", get_demo_car_params().to_bytes(), block=True)
+    self.panda = None
+    if MICI:
+      HARDWARE.reset_internal_panda()
+      self.addCleanup(HARDWARE.reset_internal_panda)
+      Panda.wait_for_panda(None, 30)
+      self.panda = Panda(cli=False)
+      self.addCleanup(self.panda.close)
 
   def teardown_method(self):
     manager_cleanup()
@@ -78,7 +91,7 @@ class TestPowerDraw(OpenpilotTestCase):
     start_time = time.monotonic()
 
     while (time.monotonic() - start_time) < MAX_WARMUP_TIME:
-      power = get_power(1)
+      power = get_power(1, self.panda)
       iteration_msg_counts = {}
       for msg,sock in socks.items():
         iteration_msg_counts[msg] = len(messaging.drain_sock_raw(sock))
@@ -97,7 +110,7 @@ class TestPowerDraw(OpenpilotTestCase):
 
   @mock_messages(['deviceMotion'])
   def test_camera_procs(self, subtests):
-    baseline = get_power()
+    baseline = get_power(panda=self.panda)
 
     prev = baseline
     used = {}