Merge branch 'master' into cherokee_kl

jyoung8607 · Feb 17, 2024 · 5139b6d · 5139b6d
2 parents 9f8d407 + 997b075
commit 5139b6d
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diff --git a/.dockerignore b/.dockerignore
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
@@ -12,7 +12,6 @@ concurrency:
 
 env:
   RUN: docker run -v ${{ github.workspace }}:/tmp/openpilot/panda -w /tmp/openpilot/panda --rm panda /bin/bash -c
-  PERSIST: docker run -v ${{ github.workspace }}:/tmp/openpilot/panda -w /tmp/openpilot/panda --name panda panda /bin/bash -c
   BUILD: |
       export DOCKER_BUILDKIT=1
       docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from ghcr.io/commaai/panda:latest -t panda -f Dockerfile .
@@ -47,7 +46,7 @@ jobs:
         run: eval "$BUILD"
       - name: Test python package installer
         run: ${{ env.RUN }} "python setup.py install"
-      - name: Build panda + pedal images and bootstub
+      - name: Build panda images and bootstub
         run: ${{ env.RUN }} "scons -j4"
       - name: Build panda with SPI support
         run: ${{ env.RUN }} "ENABLE_SPI=1 scons -j4"
@@ -90,48 +89,22 @@ jobs:
                           scons -j$(nproc) ${{ matrix.flags }} && \
                           tests/safety/test.sh"
 
-  safety_coverage:
-    name: safety coverage
-    runs-on: ubuntu-20.04
-    timeout-minutes: 20
-    steps:
-      - uses: actions/checkout@v2
-      - name: Build Docker image
-        run: eval "$BUILD"
-      - name: Run safety coverage test
-        timeout-minutes: 5
-        run: |
-          ${{ env.RUN }} "cd .. && \
-                          scons -c && \
-                          scons -j$(nproc) opendbc/ cereal/ && \
-                          cd panda/tests/safety && \
-                          ./test_coverage.sh"
-
   misra:
-    name: misra c2012
+    name: MISRA C:2012
     runs-on: ubuntu-20.04
     timeout-minutes: 20
     steps:
       - uses: actions/checkout@v2
       - name: Build Docker image
         run: eval "$BUILD"
-      - name: Run Misra C 2012 analysis
+      - name: Build FW
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Run MISRA C:2012 analysis
+        timeout-minutes: 1
+        run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh"
+      - name: MISRA mutation tests
         timeout-minutes: 4
-        run: ${{ env.PERSIST }} "cd tests/misra && ./test_misra.sh"
-      - name: Copy analysis outputs
-        run: docker cp panda:/tmp/misra /tmp
-      - uses: actions/upload-artifact@v2
-        if: always()
-        with:
-          name: cppcheck_output
-          path: /tmp/misra/cppcheck_*_output.txt
-      - uses: actions/upload-artifact@v2
-        if: always()
-        with:
-          name: misra_output
-          path: /tmp/misra/misra_*_output.txt
-      - run: docker rm panda
-        if: always()
+        run: ${{ env.RUN }} "cd tests/misra && ./test_mutation.py"
 
   python_linter:
     name: python linter
@@ -144,5 +117,3 @@ jobs:
       - name: Run static analysis
         timeout-minutes: 3
         run: ${{ env.RUN }} "pre-commit run --all"
-
-
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -9,12 +9,12 @@ repos:
     - id: check-executables-have-shebangs
     - id: check-shebang-scripts-are-executable
 - repo: https://github.com/pre-commit/mirrors-mypy
-  rev: v1.7.1
+  rev: v1.8.0
   hooks:
     - id: mypy
       additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
                                 'types-pycurl']
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.1.7
+  rev: v0.2.1
   hooks:
     - id: ruff
diff --git a/Dockerfile b/Dockerfile
@@ -52,7 +52,7 @@ ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
 
 ENV PANDA_PATH=/tmp/openpilot/panda
 ENV OPENPILOT_REF="5690386d8d731c9bebda536a5c71c890f6dfe98c"
-ENV OPENDBC_REF="5b0c73977f1428700d0344d52874a90a4c5168fb"
+ENV OPENDBC_REF="40d9c723d48496229fecc436046538a53af19c11"
 
 COPY requirements.txt /tmp/
 RUN pyenv install 3.11.4 && \

diff --git a/Jenkinsfile b/Jenkinsfile
@@ -82,7 +82,7 @@ pipeline {
               ["build", "scons -j4"],
               ["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'"],
+              ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-7]*.py -k 'not test_send_recv'"],
             ])
           }
         }
@@ -94,7 +94,7 @@ pipeline {
               ["build", "scons -j4"],
               ["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"],
+              ["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
             ])
           }
         }
@@ -126,19 +126,12 @@ pipeline {
             stage('bootkick tests') {
               steps {
                 script {
-                  docker_run("test", 10, "pytest ./tests/som/test_bootkick.py")
+                  docker_run("test", 10, "pytest -n0 ./tests/som/test_bootkick.py")
                 }
               }
             }
 
             /*
-            stage('pedal tests') {
-              steps {
-                script {
-                  docker_run("test pedal", 1, "PEDAL_JUNGLE=058010800f51363038363036 python ./tests/pedal/test_pedal.py")
-                }
-              }
-            }
             stage('HITL tests') {
               steps {
                 script {

diff --git a/README.md b/README.md
@@ -3,38 +3,68 @@
 ![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.
+panda speaks CAN and CAN FD, and it runs on [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).
 
-<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>
+## Directory structure
+
+```
+.
+├── 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 and helper programs for panda
+```
+
+## Safety Model
+
+When a panda powers up, by default it's in `SAFETY_SILENT` mode. While in `SAFETY_SILENT` mode, the CAN buses are forced to be silent. In order to send messages, you have to select a safety mode. Some of safety modes (for example `SAFETY_ALLOUTPUT`) are disabled in release firmwares. In order to use them, compile and flash your own build.
+
+Safety modes optionally support `controls_allowed`, which allows or blocks a subset of messages based on a customizable state in the board.
+
+## Code Rigor
+
+The panda firmware is written for its use in conjuction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
+[openpilot safety](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
+
+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://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx) 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.
+* The [safety logic](https://github.com/commaai/panda/tree/master/board/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/tests/safety) 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
 
-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).
+The above tests are themselves tested by:
+* a [mutation test](tests/misra/test_mutation.py) on the MISRA coverage
+* 100% line coverage enforced on the safety unit tests
+
+In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [mypy](https://mypy-lang.org/) on panda's Python library.
 
 ## Usage
 
 Setup dependencies:
 ```bash
 # Ubuntu
 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@13
 ```
 
-Clone panda repository:
+Clone panda repository and install:
 ``` bash
 git clone https://github.com/commaai/panda.git
 cd panda
-```
 
-Install requirements:
-```bash
+# install dependencies
 pip install -r requirements.txt
-```
 
-Install library:
-``` bash
+# install panda
 python setup.py install
 ```
 
@@ -68,53 +98,6 @@ As a universal car interface, it should support every reasonable software interf
 - [Python library](https://github.com/commaai/panda/tree/master/python)
 - [C++ library](https://github.com/commaai/openpilot/tree/master/selfdrive/boardd)
 - [socketcan in kernel](https://github.com/commaai/panda/tree/master/drivers/linux) (alpha)
-- [Windows J2534](https://github.com/commaai/panda/tree/master/drivers/windows)
-
-## Directory structure
-
-```
-.
-├── 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 and helper programs for panda
-```
-
-## Programming
-
-See [`board/README.md`](board/README.md)
-
-## Debugging
-
-To print out the serial console from the STM32, run `tests/debug_console.py`
-
-## Safety Model
-
-When a panda powers up, by default it's in `SAFETY_SILENT` mode. While in `SAFETY_SILENT` mode, the buses are also forced to be silent. In order to send messages, you have to select a safety mode. Currently, setting safety modes is only supported over USB. Some of safety modes (for example `SAFETY_ALLOUTPUT`) are disabled in release firmwares. In order to use them, compile and flash your own build.
-
-Safety modes optionally supports `controls_allowed`, which allows or blocks a subset of messages based on a customizable state in the board.
-
-## Code Rigor
-
-The panda firmware is written for its use in conjuction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
-[openpilot safety](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
-
-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://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx) 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.
-* The [safety logic](https://github.com/commaai/panda/tree/master/board/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/tests/safety) for each supported car variant.
-* A recorded drive for each supported car variant is [replayed through the safety logic](https://github.com/commaai/panda/tree/master/tests/safety_replay)
-to ensure that the behavior remains unchanged.
-* An internal Hardware-in-the-loop test, which currently only runs on pull requests opened by comma.ai's organization members, verifies the following functionalities:
-    * compiling the code and flashing it through USB.
-    * receiving, sending, and forwarding CAN messages on all buses, over USB.
-
-In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) on all python files within the panda repo.
-
-## Hardware
-
-Check out the hardware [guide](https://github.com/commaai/panda/blob/master/docs/guide.pdf)
 
 ## Licensing
 

diff --git a/SConscript b/SConscript
@@ -7,7 +7,7 @@ BUILDER = "DEV"
 
 common_flags = []
 
-panda_root = Dir('.').abspath
+panda_root = Dir('.')
 
 if os.getenv("RELEASE"):
   BUILD_TYPE = "RELEASE"
@@ -16,7 +16,7 @@ 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().abspath
+  cert_fn = File("./certs/debug").srcnode().relpath
   common_flags += ["-DALLOW_DEBUG"]
 
   if os.getenv("DEBUG"):
@@ -35,7 +35,7 @@ def get_version(builder, build_type):
 def get_key_header(name):
   from Crypto.PublicKey import RSA
 
-  public_fn = File(f'./certs/{name}.pub').srcnode().abspath
+  public_fn = File(f'./certs/{name}.pub').srcnode().get_path()
   with open(public_fn) as f:
     rsa = RSA.importKey(f.read())
   assert(rsa.size_in_bits() == 1024)
@@ -63,7 +63,7 @@ def to_c_uint32(x):
 
 
 def build_project(project_name, project, extra_flags):
-  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().abspath
+  linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath
 
   flags = project["PROJECT_FLAGS"] + extra_flags + common_flags + [
     "-Wall",
@@ -101,7 +101,8 @@ def build_project(project_name, project, extra_flags):
     ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES",
     BUILDERS={
       'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf')
-    }
+    },
+    tools=["default", "compilation_db"],
   )
 
   startup = env.Object(f"obj/startup_{project_name}", project["STARTUP_FILE"])
@@ -123,7 +124,7 @@ def build_project(project_name, project, extra_flags):
   main_bin = env.Objcopy(f"obj/{project_name}.bin", main_elf)
 
   # Sign main
-  sign_py = File(f"{panda_root}/crypto/sign.py").srcnode().abspath
+  sign_py = File(f"{panda_root}/crypto/sign.py").srcnode().relpath
   env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}")
 
 
@@ -179,9 +180,6 @@ with open("board/obj/cert.h", "w") as f:
 # panda fw
 SConscript('board/SConscript')
 
-# pedal fw
-SConscript('board/pedal/SConscript')
-
 # panda jungle fw
 SConscript('board/jungle/SConscript')
 

diff --git a/SConstruct b/SConstruct
@@ -12,5 +12,17 @@ AddOption('--coverage',
           action='store_true',
           help='build with test coverage options')
 
+AddOption('--compile_db',
+          action='store_true',
+          help='build clang compilation database')
+
+env = Environment(
+  COMPILATIONDB_USE_ABSPATH=True,
+  tools=["default", "compilation_db"],
+)
+
+if GetOption('compile_db'):
+    env.CompilationDatabase("compile_commands.json")
+
 # panda fw & test files
 SConscript('SConscript')
diff --git a/board/README.md b/board/README.md
@@ -1,13 +1,14 @@
-Programming
-----
-
-**Panda**
+## Programming
 
 ```
 ./flash.py        # flash application
 ./recover.py      # flash bootstub
 ```
 
+## Debugging
+
+To print out the serial console from the STM32, run `tests/debug_console.py`
+
 Troubleshooting
 ----
 
@@ -16,5 +17,4 @@ If panda is blinking fast with green LED, use `flash.py`.
 
 Otherwise if LED is off and panda can't be seen with `lsusb` command, use [panda paw](https://comma.ai/shop/products/panda-paw) to go into DFU mode.
 
-
 If your device has an internal panda and none of the above works, try running `../tests/reflash_internal_panda.py`.