tizi tests in jenkins (#27810)

* add

* mv there for now

* mv

* single panda

* move into parallel

* longer timeout for dfu

---------

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

Jenkinsfile

@@ -125,6 +125,20 @@ pipeline {
         }
         */
 
+        stage('tizi-tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tizi", [
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
+            ])
+          }
+        }
+
         stage('build') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           environment {

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -40,8 +40,9 @@ class TestBoardd(unittest.TestCase):
         sm.update(1000)
 
     num_pandas = len(sm['pandaStates'])
-    if TICI:
-      self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests")
+    expected_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
+    self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \
+                                                   connect another panda for multipanda tests.")
 
     # boardd blocks on CarVin and CarParams
     cp = car.CarParams.new_message()

selfdrive/boardd/tests/test_pandad.py

@@ -14,9 +14,9 @@ class TestPandad(unittest.TestCase):
   def tearDown(self):
     managed_processes['pandad'].stop()
 
-  def _wait_for_boardd(self):
+  def _wait_for_boardd(self, timeout=30):
     sm = messaging.SubMaster(['peripheralState'])
-    for _ in range(30):
+    for _ in range(timeout):
       sm.update(1000)
       if sm.updated['peripheralState']:
         break
@@ -30,7 +30,7 @@ class TestPandad(unittest.TestCase):
     time.sleep(1)
 
     managed_processes['pandad'].start()
-    self._wait_for_boardd()
+    self._wait_for_boardd(60)
 
   @phone_only
   def test_in_bootstub(self):