Remove non-EON panda build (commaai#671)

* Remove non-EON panda build

* missed that

* fixup readme

* more readme

* simplify ci

* add USB command to disable heartbeat checks in debug mode

* clean that up too

* more cleanup

* fix path

* disable heartbeat in set_safety_mode

* more red

* remove one more EON ref

Dockerfile

@@ -63,9 +63,6 @@ RUN pip install --upgrade pip==18.0
 COPY requirements.txt /tmp/
 RUN pip install -r /tmp/requirements.txt
 
-RUN mkdir -p /home/batman
-ENV HOME /home/batman
-
 ENV PYTHONPATH /tmp:$PYTHONPATH
 
 RUN cd /tmp && git clone https://github.com/commaai/panda_jungle.git

Jenkinsfile

@@ -1,13 +1,7 @@
 pipeline {
   agent any
   environment {
-    AUTHOR = """${sh(
-                returnStdout: true,
-                script: "git --no-pager show -s --format='%an' ${GIT_COMMIT}"
-             ).trim()}"""
-
     DOCKER_IMAGE_TAG = "panda:build-${env.GIT_COMMIT}"
-    DOCKER_NAME = "panda-test-${env.GIT_COMMIT}"
   }
   stages {
     stage('Build Docker Image') {
@@ -20,41 +14,21 @@ pipeline {
         }
       }
     }
-    stage('Test Dev Build') {
+    stage('HITL tests') {
       steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
-          timeout(time: 60, unit: 'MINUTES') {
+        lock(resource: "pandas", inversePrecedence: true, quantity: 1) {
+          timeout(time: 20, unit: 'MINUTES') {
             script {
-              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'cd /tmp/panda; scons; ./run_automated_tests.sh'"
-              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_dev.xml"
-              sh "docker rm ${env.DOCKER_NAME}"
+              sh "docker run --rm --privileged \
+                    --volume /dev/bus/usb:/dev/bus/usb \
+                    --volume /var/run/dbus:/var/run/dbus \
+                    --net host \
+                    ${env.DOCKER_IMAGE_TAG} \
+                    bash -c 'cd /tmp/panda && scons && ./tests/automated/test.sh'"
             }
           }
         }
       }
     }
-    stage('Test EON Build') {
-      steps {
-        lock(resource: "Pandas", inversePrecedence: true, quantity: 1){
-          timeout(time: 60, unit: 'MINUTES') {
-            script {
-              sh "docker run --name ${env.DOCKER_NAME} --privileged --volume /dev/bus/usb:/dev/bus/usb --volume /var/run/dbus:/var/run/dbus --net host ${env.DOCKER_IMAGE_TAG} bash -c 'touch /EON; cd /tmp/panda; scons; ./run_automated_tests.sh'"
-              sh "docker cp ${env.DOCKER_NAME}:/tmp/panda/nosetests.xml test_results_eon.xml"
-              sh "docker rm ${env.DOCKER_NAME}"
-            }
-          }
-        }
-      }
-    }
-  }
-  post {
-    failure {
-      script {
-        sh "docker rm ${env.DOCKER_NAME} || true"
-      }
-    }
-    always {
-      junit "test_results*.xml"
-    }
   }
 }

README.md

@@ -58,10 +58,13 @@ As a universal car interface, it should support every reasonable software interf
 
 ## Directory structure
 
-- board      -- Code that runs on the STM32
-- drivers    -- Drivers (not needed for use with python)
-- python     -- Python userspace library for interfacing with the panda
-- tests      -- Tests and helper programs for panda
+```
+.
+├── board           # Code that runs on the STM32
+├── drivers         # Drivers (not needed for use with python)
+├── python          # Python userspace library for interfacing with the panda
+├── tests           # Tests and helper programs for panda
+```
 
 ## Programming
 
@@ -79,20 +82,19 @@ Safety modes optionally supports `controls_allowed`, which allows or blocks a su
 
 ## Code Rigor
 
-When compiled from a comma device, the panda FW is configured and optimized (at compile time) for its use in
-conjuction with [openpilot](https://github.com/commaai/openpilot). The panda FW, through its safety model, provides and enforces the
+The panda firmware is written for its use in conjuction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the
 [openpilot safety](https://github.com/commaai/openpilot/blob/devel/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards.
 
 These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place:
 * A generic static code analysis is performed by [cppcheck](https://github.com/danmar/cppcheck/).
 * In addition, [cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table).
-* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced on board and pedal Makefiles.
+* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced.
 * The [safety logic](https://github.com/commaai/panda/tree/master/board/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/tests/safety) for each supported car variant.
 * A recorded drive for each supported car variant is [replayed through the safety logic](https://github.com/commaai/panda/tree/master/tests/safety_replay)
 to ensure that the behavior remains unchanged.
 * An internal Hardware-in-the-loop test, which currently only runs on pull requests opened by comma.ai's organization members, verifies the following functionalities:
-    * compiling the code in various configuration and flashing it both through USB.
-    * Receiving, sending and forwarding CAN messages on all buses, over USB.
+    * compiling the code and flashing it through USB.
+    * receiving, sending, and forwarding CAN messages on all buses, over USB.
 
 In addition, we run the [pylint](https://www.pylint.org/) and [flake8](https://github.com/PyCQA/flake8) linters on all python files within the panda repo.
 

board/SConscript

@@ -1,10 +1,6 @@
 import os
 import subprocess
 
-EON = os.path.isfile('/EON')
-TICI = os.path.isfile('/TICI')
-PC = not (EON or TICI)
-
 PREFIX = "arm-none-eabi-"
 BUILDER = "DEV"
 
@@ -36,10 +32,6 @@ else:
     "-g",
   ]
 
-  if not PC:
-    PROJECT_FLAGS += ["-DEON"]
-    BUILDER = "EON"
-
 
 def get_version(builder, build_type):
   version_file = File('../VERSION').srcnode().abspath

board/boards/white.h

@@ -78,13 +78,6 @@ void white_set_gps_mode(uint8_t mode) {
       set_gpio_output(GPIOC, 14, 0);
       set_gpio_output(GPIOC, 5, 0);
       break;
-#ifndef EON
-    case GPS_ENABLED:
-      // ESP ON
-      set_gpio_output(GPIOC, 14, 1);
-      set_gpio_output(GPIOC, 5, 1);
-      break;
-#endif
     case GPS_BOOTMODE:
       set_gpio_output(GPIOC, 14, 1);
       set_gpio_output(GPIOC, 5, 0);
@@ -158,71 +151,8 @@ uint32_t white_read_current(void){
   return adc_get(ADCCHAN_CURRENT);
 }
 
-uint32_t marker = 0;
 void white_usb_power_mode_tick(uint32_t uptime){
-
-  // on EON or BOOTSTUB, no state machine
-#if !defined(BOOTSTUB) && !defined(EON)
-  #define CURRENT_THRESHOLD 0xF00U
-  #define CLICKS 5U // 5 seconds to switch modes
-
-  uint32_t current = white_read_current();
-
-  // ~0x9a = 500 ma
-  // puth(current); puts("\n");
-
-  switch (usb_power_mode) {
-    case USB_POWER_CLIENT:
-      if ((uptime - marker) >= CLICKS) {
-        if (!is_enumerated) {
-          puts("USBP: didn't enumerate, switching to CDP mode\n");
-          // switch to CDP
-          white_set_usb_power_mode(USB_POWER_CDP);
-          marker = uptime;
-        }
-      }
-      // keep resetting the timer if it's enumerated
-      if (is_enumerated) {
-        marker = uptime;
-      }
-      break;
-    case USB_POWER_CDP:
-      // been CLICKS clicks since we switched to CDP
-      if ((uptime - marker) >= CLICKS) {
-        // measure current draw, if positive and no enumeration, switch to DCP
-        if (!is_enumerated && (current < CURRENT_THRESHOLD)) {
-          puts("USBP: no enumeration with current draw, switching to DCP mode\n");
-          white_set_usb_power_mode(USB_POWER_DCP);
-          marker = uptime;
-        }
-      }
-      // keep resetting the timer if there's no current draw in CDP
-      if (current >= CURRENT_THRESHOLD) {
-        marker = uptime;
-      }
-      break;
-    case USB_POWER_DCP:
-      // been at least CLICKS clicks since we switched to DCP
-      if ((uptime - marker) >= CLICKS) {
-        // if no current draw, switch back to CDP
-        if (current >= CURRENT_THRESHOLD) {
-          puts("USBP: no current draw, switching back to CDP mode\n");
-          white_set_usb_power_mode(USB_POWER_CDP);
-          marker = uptime;
-        }
-      }
-      // keep resetting the timer if there's current draw in DCP
-      if (current < CURRENT_THRESHOLD) {
-        marker = uptime;
-      }
-      break;
-    default:
-      puts("USB power mode invalid\n");  // set_usb_power_mode prevents assigning invalid values
-      break;
-  }
-#else
   UNUSED(uptime);
-#endif
 }
 
 void white_set_ir_power(uint8_t percentage){
@@ -313,7 +243,7 @@ void white_grey_common_init(void) {
   // Init usb power mode
   uint32_t voltage = adc_get_voltage();
   // Init in CDP mode only if panda is powered by 12V.
-  // Otherwise a PC would not be able to flash a standalone panda with EON build
+  // Otherwise a PC would not be able to flash a standalone panda
   if (voltage > 8000U) {  // 8V threshold
     white_set_usb_power_mode(USB_POWER_CDP);
   } else {