faster jenkins (#22973)

Co-authored-by: Comma Device <device@comma.ai>

Jenkinsfile

@@ -145,10 +145,10 @@ pipeline {
           stages {
             stage('parallel tests') {
               parallel {
-                stage('Devel Tests') {
+                stage('C2: build') {
                   steps {
                     phone_steps("eon-build", [
-                      ["build devel", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
                       ["build openpilot", "cd selfdrive/manager && ./build.py"],
                       ["test manager", "python selfdrive/manager/test/test_manager.py"],
                       ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
@@ -157,7 +157,7 @@ pipeline {
                   }
                 }
 
-                stage('Replay Tests') {
+                stage('C2: replay') {
                   steps {
                     phone_steps("eon2", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -166,7 +166,7 @@ pipeline {
                   }
                 }
 
-                stage('HW + Unit Tests') {
+                stage('C2: HW + Unit Tests') {
                   steps {
                     phone_steps("eon", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -201,19 +201,22 @@ pipeline {
                 }
                 */
 
-                stage('tici Build') {
+                stage('C3: build') {
                   environment {
                     R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
                   }
                   steps {
                     phone_steps("tici", [
-                      ["build", "cd selfdrive/manager && ./build.py"],
+                      ["build master-ci", "cd $SOURCE_DIR/release && EXTRA_FILES='tools/' ./build_devel.sh"],
+                      ["build openpilot", "cd selfdrive/manager && ./build.py"],
+                      ["test manager", "python selfdrive/manager/test/test_manager.py"],
                       ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+                      ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
                     ])
                   }
                 }
 
-                stage('HW + Unit Tests (tici)') {
+                stage('C3: HW + Unit Tests') {
                   steps {
                     phone_steps("tici2", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -224,7 +227,7 @@ pipeline {
                   }
                 }
 
-                stage('EON camerad') {
+                stage('C2: camerad') {
                   steps {
                     phone_steps("eon-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],
@@ -234,7 +237,7 @@ pipeline {
                   }
                 }
 
-                stage('tici camerad') {
+                stage('C3: camerad') {
                   steps {
                     phone_steps("tici-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -4,33 +4,18 @@ import random
 import time
 import unittest
 from collections import defaultdict
-from functools import wraps
 
 import cereal.messaging as messaging
 from cereal import car
 from common.params import Params
 from common.spinner import Spinner
 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_pandas(f):
-  @wraps(f)
-  def wrapper(*args, **kwargs):
-    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
-
-
 class TestBoardd(unittest.TestCase):
 
   @classmethod
@@ -44,7 +29,6 @@ class TestBoardd(unittest.TestCase):
     cls.spinner.close()
 
   @phone_only
-  @reset_pandas
   @with_processes(['pandad'])
   def test_loopback(self):
     # wait for boardd to init
@@ -75,7 +59,7 @@ class TestBoardd(unittest.TestCase):
     can = messaging.sub_sock('can', conflate=False, timeout=100)
     time.sleep(0.2)
 
-    n = 1000
+    n = 200
     for i in range(n):
       self.spinner.update(f"boardd loopback {i}/{n}")
 

selfdrive/loggerd/tests/test_encoder.py

@@ -102,8 +102,7 @@ class TestEncoder(unittest.TestCase):
 
         # TODO: this ffprobe call is really slow
         # check frame count
-        cmd = f"ffprobe -v error -count_frames -select_streams v:0 -show_entries stream=nb_read_frames \
-                -of default=nokey=1:noprint_wrappers=1 {file_path}"
+        cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets -of csv=p=0 {file_path}"
         if TICI:
           cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
 

selfdrive/loggerd/tests/test_loggerd.py

@@ -117,15 +117,15 @@ class TestLoggerd(unittest.TestCase):
       expected_files.add("ecamera.hevc")
 
     # give camerad time to start
-    time.sleep(5)
+    time.sleep(3)
 
     for _ in range(5):
-      num_segs = random.randint(1, 10)
-      length = random.randint(2, 5)
+      num_segs = random.randint(2, 5)
+      length = random.randint(1, 3)
       os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
 
       managed_processes["loggerd"].start()
-      time.sleep((num_segs + 1) * length)
+      time.sleep(num_segs*length + 1)
       managed_processes["loggerd"].stop()
 
       route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0]
@@ -177,7 +177,9 @@ class TestLoggerd(unittest.TestCase):
     # sleep enough for the first poll to time out
     # TOOD: fix loggerd bug dropping the msgs from the first poll
     managed_processes["loggerd"].start()
-    time.sleep(2)
+    for s in services:
+      while not pm.all_readers_updated(s):
+        time.sleep(0.1)
 
     sent_msgs = defaultdict(list)
     for _ in range(random.randint(2, 10) * 100):
@@ -220,9 +222,11 @@ class TestLoggerd(unittest.TestCase):
     pm = messaging.PubMaster(services)
 
     # sleep enough for the first poll to time out
-    # TOOD: fix loggerd bug dropping the msgs from the first poll
+    # TODO: fix loggerd bug dropping the msgs from the first poll
     managed_processes["loggerd"].start()
-    time.sleep(2)
+    for s in services:
+      while not pm.all_readers_updated(s):
+        time.sleep(0.1)
 
     sent_msgs = defaultdict(list)
     for _ in range(random.randint(2, 10) * 100):
@@ -233,9 +237,8 @@ class TestLoggerd(unittest.TestCase):
           m = messaging.new_message(s, random.randint(2, 10))
         pm.send(s, m)
         sent_msgs[s].append(m)
-      time.sleep(0.01)
 
-    time.sleep(1)
+    time.sleep(2)
     managed_processes["loggerd"].stop()
 
     lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog.bz2")))

selfdrive/manager/test/test_manager.py

@@ -5,7 +5,7 @@ import time
 import unittest
 
 import selfdrive.manager.manager as manager
-from selfdrive.hardware import EON
+from selfdrive.hardware import EON, TICI, HARDWARE
 from selfdrive.manager.process import DaemonProcess
 from selfdrive.manager.process_config import managed_processes
 
@@ -37,8 +37,8 @@ class TestManager(unittest.TestCase):
 
   # ensure all processes exit cleanly
   def test_clean_exit(self):
+    HARDWARE.set_power_save(False)
     manager.manager_prepare()
-
     for p in ALL_PROCESSES:
       managed_processes[p].start()
 
@@ -49,7 +49,7 @@ class TestManager(unittest.TestCase):
       self.assertTrue(state.running, f"{p} not running")
 
       exit_code = managed_processes[p].stop(retry=False)
-      if (p == 'ui') or (EON and p == 'logcatd'):
+      if (TICI and p in ['ui', 'navd']) or (EON and p == 'logcatd'):
         # TODO: make Qt UI exit gracefully
         continue