add multipanda to loopback tests (#22900)

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -14,17 +14,19 @@ from common.timeout import Timeout
 from panda import Panda
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import make_can_msg
+from selfdrive.hardware import TICI
 from selfdrive.test.helpers import phone_only, with_processes
 
 
-def reset_panda(f):
+def reset_pandas(f):
   @wraps(f)
   def wrapper(*args, **kwargs):
-    p = Panda()
-    for i in [0, 1, 2, 0xFFFF]:
-      p.can_clear(i)
-    p.reset()
-    p.close()
+    for serial in Panda.list():
+      p = Panda(serial)
+      for i in [0, 1, 2, 3, 0xFFFF]:
+        p.can_clear(i)
+      p.reset()
+      p.close()
     f(*args, **kwargs)
   return wrapper
 
@@ -42,7 +44,7 @@ class TestBoardd(unittest.TestCase):
     cls.spinner.close()
 
   @phone_only
-  @reset_panda
+  @reset_pandas
   @with_processes(['pandad'])
   def test_loopback(self):
     # wait for boardd to init
@@ -50,15 +52,19 @@ class TestBoardd(unittest.TestCase):
 
     with Timeout(60, "boardd didn't start"):
       sm = messaging.SubMaster(['pandaStates'])
-      while sm.rcv_frame['pandaStates'] < 1:
+      while sm.rcv_frame['pandaStates'] < 1 and len(sm['pandaStates']) == 0:
         sm.update(1000)
 
+    num_pandas = len(sm['pandaStates'])
+    if TICI:
+      self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests")
+
     # boardd blocks on CarVin and CarParams
     cp = car.CarParams.new_message()
 
     safety_config = car.CarParams.SafetyConfig.new_message()
     safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
-    cp.safetyConfigs = [safety_config]
+    cp.safetyConfigs = [safety_config]*num_pandas
 
     params = Params()
     params.put("CarVin", b"0"*17)
@@ -67,8 +73,7 @@ class TestBoardd(unittest.TestCase):
 
     sendcan = messaging.pub_sock('sendcan')
     can = messaging.sub_sock('can', conflate=False, timeout=100)
-
-    time.sleep(1)
+    time.sleep(0.2)
 
     n = 1000
     for i in range(n):
@@ -78,26 +83,27 @@ class TestBoardd(unittest.TestCase):
       for _ in range(random.randrange(10)):
         to_send = []
         for __ in range(random.randrange(100)):
-          bus = random.randrange(3)
+          bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
           addr = random.randrange(1, 1<<29)
           dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))])
           sent_msgs[bus].add((addr, dat))
           to_send.append(make_can_msg(addr, dat, bus))
         sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
 
-      max_recv = 10
-      while max_recv > 0 and any(len(sent_msgs[bus]) for bus in range(3)):
+      for _ in range(100 * 2):
         recvd = messaging.drain_sock(can, wait_for_one=True)
         for msg in recvd:
           for m in msg.can:
             if m.src >= 128:
-              k = (m.address, m.dat)
-              assert k in sent_msgs[m.src-128]
-              sent_msgs[m.src-128].discard(k)
-        max_recv -= 1
+              key = (m.address, m.dat)
+              assert key in sent_msgs[m.src-128], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
+              sent_msgs[m.src-128].discard(key)
+
+        if all(len(v) == 0 for v in sent_msgs.values()):
+          break
 
       # if a set isn't empty, messages got dropped
-      for bus in range(3):
+      for bus in sent_msgs.keys():
         assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"