Merge branch 'master' of ssh://github.com/commaai/panda into simplify

Author: adeebshihadeh

.github/workflows/test.yaml

@@ -10,7 +10,24 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }}
   cancel-in-progress: true
 
+env:
+  RUN: source .venv/bin/activate && /bin/bash -c
+
 jobs:
+  build:
+    name: build
+    runs-on: ubuntu-latest
+    timeout-minutes: 10
+    steps:
+      - uses: actions/checkout@v6
+      - run: ./setup.sh
+      - name: Test python package installer
+        run: ${{ env.RUN }} "pip install --break-system-packages .[dev]"
+      - 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
     runs-on: ${{ matrix.os }}
@@ -22,19 +39,13 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - run: ./test.sh
-      - name: Build panda in release mode
-        run: |
-          source .venv/bin/activate
-          CERT=certs/debug RELEASE=1 scons
-      - name: Test python package installer
-        run: pip install --break-system-packages .[dev]
 
   windows:
     name: windows pip package test
     runs-on: windows-latest
-    timeout-minutes: 10
+    timeout-minutes: 3
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - uses: actions/setup-python@v5
         with:
           python-version: "3.12"
@@ -43,27 +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: 3
-    steps:
-      - uses: actions/checkout@v6
-      - run: ./setup.sh
-      - name: Run MISRA C:2012 analysis
-        run: ./tests/misra/test_misra.sh
-
-  misra_mutation:
-    name: MISRA C:2012 Mutation
-    runs-on: ubuntu-latest
-    timeout-minutes: 3
-    steps:
-      - uses: actions/checkout@v6
-      - run: ./setup.sh
-      - name: MISRA mutation tests
-        run: |
-          source .venv/bin/activate
-          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
   }
 }
@@ -111,10 +111,10 @@ 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"],
+                  ["test", "cd tests/hitl && pytest -o 'addopts=' --durations=0 2*.py [5-9]*.py"],
                 ])
               }
             }
@@ -123,23 +123,14 @@ 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"],
+                  ["test", "cd tests/hitl && pytest -o 'addopts=' --durations=0 2*.py [5-9]*.py"],
                 ])
               }
             }
 
-            /*
-            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

@@ -1,4 +1,5 @@
 import os
+import hashlib
 import opendbc
 import subprocess
 
@@ -14,7 +15,7 @@ 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 +34,7 @@ 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 +106,8 @@ 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 +118,7 @@ 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}")
 
 
@@ -150,11 +151,23 @@ with open("board/obj/cert.h", "w") as f:
   for cert in certs:
     f.write("\n".join(cert) + "\n")
 
+# Packet version defines: SHA hash of the struct header files
+def version_hash(path):
+  with open(path, "rb") as f:
+    # Normalize line endings on Windows
+    return int.from_bytes(hashlib.sha256(f.read().replace(b'\r', b'')).digest()[:4], 'little')
+hh, ch, jh = version_hash("board/health.h"), version_hash(os.path.join(opendbc.INCLUDE_PATH, "opendbc/safety/can.h")), version_hash("board/jungle/jungle_health.h")
+common_flags += [f"-DHEALTH_PACKET_VERSION=0x{hh:08X}U", f"-DCAN_PACKET_VERSION_HASH=0x{ch:08X}U",
+                 f"-DJUNGLE_HEALTH_PACKET_VERSION=0x{jh:08X}U"]
+
 # panda fw
 build_project("panda_h7", base_project_h7, "./board/main.c", [])
 
 # panda jungle fw
-build_project("panda_jungle_h7", base_project_h7, "./board/jungle/main.c", ["-DPANDA_JUNGLE"])
+flags = [
+  "-DPANDA_JUNGLE",
+]
+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"])

board/body/__init__.py

@@ -8,35 +8,37 @@ class PandaBody(Panda):
   MOTOR_LEFT: int = 1
   MOTOR_RIGHT: int = 2
 
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self._rpm_left: int = 0
+    self._rpm_right: int = 0
+
+  @property
+  def rpm_left(self) -> int:
+    return self._rpm_left
+
+  @rpm_left.setter
+  def rpm_left(self, value: int) -> None:
+    self._rpm_left = int(value)
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, self._rpm_left, self._rpm_right, b'')
+
+  @property
+  def rpm_right(self) -> int:
+    return self._rpm_right
+
+  @rpm_right.setter
+  def rpm_right(self, value: int) -> None:
+    self._rpm_right = int(value)
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, self._rpm_left, self._rpm_right, b'')
+
   # ****************** Motor Control *****************
   @staticmethod
   def _ensure_valid_motor(motor: int) -> None:
     if motor not in (PandaBody.MOTOR_LEFT, PandaBody.MOTOR_RIGHT):
       raise ValueError("motor must be MOTOR_LEFT or MOTOR_RIGHT")
 
-  def motor_set_speed(self, motor: int, speed: int) -> None:
-    self._ensure_valid_motor(motor)
-    assert -100 <= speed <= 100, "speed must be between -100 and 100"
-    speed_param = speed if speed >= 0 else (256 + speed)
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe0, motor, speed_param, b'')
-
-  def motor_set_target_rpm(self, motor: int, rpm: float) -> None:
-    self._ensure_valid_motor(motor)
-    target_deci_rpm = int(round(rpm * 10.0))
-    assert -32768 <= target_deci_rpm <= 32767, "target rpm out of range (-3276.8 to 3276.7)"
-    target_param = target_deci_rpm if target_deci_rpm >= 0 else (target_deci_rpm + (1 << 16))
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, motor, target_param, b'')
-
-  def motor_stop(self, motor: int) -> None:
-    self._ensure_valid_motor(motor)
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe1, motor, 0, b'')
-
   def motor_get_encoder_state(self, motor: int) -> tuple[int, float]:
     self._ensure_valid_motor(motor)
     dat = self._handle.controlRead(Panda.REQUEST_IN, 0xe2, motor, 0, 8)
     position, rpm_milli = struct.unpack("<ii", dat)
     return position, rpm_milli / 1000.0
-
-  def motor_reset_encoder(self, motor: int) -> None:
-    self._ensure_valid_motor(motor)
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe3, motor, 0, b'')