From 0970dd74b705307a0200932cd47a2f85ef90cd8b Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Wed, 1 Apr 2020 10:51:47 -0700
Subject: [PATCH] Boot-loop testing script for EON/C2 device sensors (#1303)

* Sensor test boot-loop script

* Changing file permissions

* Set executable

* Changing file permissions

* Sensor test boot-loop script

* Changing file permissions

* Set executable

* Changing file permissions

* Bugfix to text_window

* Capture logs during a failure event

* Capture logs during a failure event
---
 common/text_window.py                  |  2 +-
 panda                                  |  2 +-
 selfdrive/test/sensor_test_bootloop.py | 67 ++++++++++++++++++++++++++
 3 files changed, 69 insertions(+), 2 deletions(-)
 create mode 100755 selfdrive/test/sensor_test_bootloop.py

diff --git a/common/text_window.py b/common/text_window.py
index fb9ed4f836..bc30e135a3 100755
--- a/common/text_window.py
+++ b/common/text_window.py
@@ -17,7 +17,7 @@ class TextWindow():
   def get_status(self):
     if self.text_proc is not None:
       self.text_proc.poll()
-      return s.text_proc.returncode
+      return self.text_proc.returncode
 
     return None
 
diff --git a/panda b/panda
index de89fcdc4f..98ee810a03 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit de89fcdc4f6957e2cfe085d0cfd60cce745a7e36
+Subproject commit 98ee810a0382e22290df2494b3877ed47d196230
diff --git a/selfdrive/test/sensor_test_bootloop.py b/selfdrive/test/sensor_test_bootloop.py
new file mode 100755
index 0000000000..4b6e993e7f
--- /dev/null
+++ b/selfdrive/test/sensor_test_bootloop.py
@@ -0,0 +1,67 @@
+#!/usr/bin/python3
+import sys
+import os
+import stat
+import subprocess
+import json
+from common.text_window import TextWindow
+import time
+
+# Required for sensord not to bus-error on startup
+# commaai/cereal#22
+try:
+  os.mkdir("/dev/shm")
+except FileExistsError:
+  pass
+except PermissionError:
+  print("WARNING: failed to make /dev/shm")
+
+try:
+  with open('/tmp/test-results.json', 'r') as infile:
+    data = json.load(infile)
+except:
+  data = {'sensor-pass': 0, 'sensor-fail': 0}
+
+STARTUP_SCRIPT = "/data/data/com.termux/files/continue.sh"
+try:
+  with open(STARTUP_SCRIPT, 'w') as startup_script:
+    startup_script.write("#!/usr/bin/bash\n\n/data/openpilot/selfdrive/test/sensor_test_bootloop.py\n")
+  os.chmod(STARTUP_SCRIPT, stat.S_IRWXU)
+except:
+  print("Failed to install new startup script -- aborting")
+  sys.exit(-1)
+
+sensord_env = {**os.environ, 'SENSOR_TEST': '1'}
+process = subprocess.run("./sensord", cwd="/data/openpilot/selfdrive/sensord", env=sensord_env)
+
+if process.returncode == 40:
+  text = "Current run: SUCCESS\n"
+  data['sensor-pass'] += 1
+else:
+  text = "Current run: FAIL\n"
+  data['sensor-fail'] += 1
+
+  timestr = str(int(time.time()))
+  with open('/tmp/dmesg-' + timestr + '.log', 'w') as dmesg_out:
+    subprocess.call('dmesg', stdout=dmesg_out, shell=False)
+  with open("/tmp/logcat-" + timestr + '.log', 'w') as logcat_out:
+    subprocess.call(['logcat','-d'], stdout=logcat_out, shell=False)
+
+text += "Sensor pass history: " + str(data['sensor-pass']) + "\n"
+text += "Sensor fail history: " + str(data['sensor-fail']) + "\n"
+
+print(text)
+
+with open('/tmp/test-results.json', 'w') as outfile:
+  json.dump(data, outfile, indent=4)
+
+with TextWindow(text) as status:
+  for _ in range(100):
+    if status.get_status() == 1:
+      with open(STARTUP_SCRIPT, 'w') as startup_script:
+        startup_script.write("#!/usr/bin/bash\n\ncd /data/openpilot\nexec ./launch_openpilot.sh\n")
+      os.chmod(STARTUP_SCRIPT, stat.S_IRWXU)
+      break
+    time.sleep(0.1)
+
+subprocess.Popen("reboot")