pandad: add jungle spam mode to test (#32636)

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: a46f1c6eba

selfdrive/pandad/tests/test_pandad_spi.py

@@ -10,6 +10,7 @@ from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
+JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
 
 @pytest.mark.tici
 class TestBoarddSpi:
@@ -18,9 +19,9 @@ class TestBoarddSpi:
     if HARDWARE.get_device_type() == 'tici':
       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'
+    if not JUNGLE_SPAM:
+      os.environ['BOARDD_LOOPBACK'] = '1'
 
   @phone_only
   @with_processes(['pandad'])
@@ -39,8 +40,9 @@ class TestBoarddSpi:
 
     st = time.monotonic()
     ts = {s: list() for s in socks.keys()}
-    for _ in range(20):
+    for _ in range(int(os.getenv("TEST_TIME", "20"))):
       # send some CAN messages
+      if not JUNGLE_SPAM:
         sent = send_random_can_messages(sendcan, random.randrange(2, 20))
         for k, v in sent.items():
           sent_msgs[k].extend(list(v))
@@ -54,6 +56,15 @@ class TestBoarddSpi:
           assert m.valid or (service == "can")
           if service == "can":
             for msg in m.can:
+              if JUNGLE_SPAM:
+                # PandaJungle.set_generated_can(True)
+                i = msg.address - 0x200
+                assert msg.address >= 0x200
+                assert msg.src == (i%3)
+                assert msg.dat == b"\xff"*(i%8)
+                total_recv_count += 1
+                continue
+
               if msg.src > 4:
                 continue
               key = (msg.address, msg.dat)
@@ -91,5 +102,5 @@ class TestBoarddSpi:
         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")
+      print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/(total_sent_count+1e-4):.2%} received")
       assert total_recv_count > 20