boardd: check CAN in SPI test (#32400)

* test

* little more

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 69f57fb6a8

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -8,6 +8,7 @@ from pprint import pprint
 
 import cereal.messaging as messaging
 from cereal import car, log
+from openpilot.common.retry import retry
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
@@ -16,6 +17,7 @@ from openpilot.system.hardware import TICI
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
 
 
+@retry(attempts=3)
 def setup_boardd(num_pandas):
   params = Params()
   params.put_bool("IsOnroad", False)

selfdrive/boardd/tests/test_boardd_spi.py

@@ -2,12 +2,13 @@ import os
 import time
 import numpy as np
 import pytest
+import random
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
-from openpilot.selfdrive.boardd.tests.test_boardd_loopback import setup_boardd
+from openpilot.selfdrive.boardd.tests.test_boardd_loopback import setup_boardd, send_random_can_messages
 
 
 @pytest.mark.tici
@@ -18,6 +19,7 @@ class TestBoarddSpi:
       pytest.skip("only for spi pandas")
     os.environ['STARTED'] = '1'
     os.environ['BOARDD_LOOPBACK'] = '1'
+    #os.environ['SPI_ERR_PROB'] = '-1'
     os.environ['SPI_ERR_PROB'] = '0.001'
 
   @phone_only
@@ -25,30 +27,48 @@ class TestBoarddSpi:
   def test_spi_corruption(self, subtests):
     setup_boardd(1)
 
+    sendcan = messaging.pub_sock('sendcan')
     socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}
     time.sleep(2)
     for s in socks.values():
       messaging.drain_sock_raw(s)
 
+    total_recv_count = 0
+    total_sent_count = 0
+    sent_msgs = {bus: list() for bus in range(3)}
+
     st = time.monotonic()
     ts = {s: list() for s in socks.keys()}
     for _ in range(20):
+      # send some CAN messages
+      sent = send_random_can_messages(sendcan, random.randrange(2, 20))
+      for k, v in sent.items():
+        sent_msgs[k].extend(list(v))
+        total_sent_count += len(v)
+
       for service, sock in socks.items():
         for m in messaging.drain_sock(sock):
           ts[service].append(m.logMonoTime)
 
           # sanity check for corruption
-          assert m.valid
+          assert m.valid or (service == "can")
           if service == "can":
-            assert len(m.can) == 0
+            for msg in m.can:
+              if msg.src > 4:
+                continue
+              key = (msg.address, msg.dat)
+              assert key in sent_msgs[msg.src], f"got unexpected msg: {msg.src=} {msg.address=} {msg.dat=}"
+              # TODO: enable this
+              #sent_msgs[msg.src].remove(key)
+              total_recv_count += 1
           elif service == "pandaStates":
             assert len(m.pandaStates) == 1
             ps = m.pandaStates[0]
-            assert ps.uptime < 100
+            assert ps.uptime < 1000
             assert ps.pandaType == "tres"
             assert ps.ignitionLine
             assert not ps.ignitionCan
-            assert ps.voltage < 14000
+            assert 4000 < ps.voltage < 14000
           elif service == "peripheralState":
             ps = m.peripheralState
             assert ps.pandaType == "tres"
@@ -66,6 +86,10 @@ class TestBoarddSpi:
       with subtests.test(msg="timing check", service=service):
         edt = 1e3 / SERVICE_LIST[service].frequency
         assert edt*0.9 < np.mean(dts) < edt*1.1
-        assert np.max(dts) < edt*3
+        assert np.max(dts) < edt*20
         assert np.min(dts) < edt
         assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8)
+
+    with subtests.test(msg="CAN traffic"):
+      print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/total_sent_count:.2%} received")
+      assert total_recv_count > 20