old_contents: #!/usr/bin/env python3
  import os
  import random
  import time
  from collections import defaultdict
  from functools import wraps
  
  import cereal.messaging as messaging
  from cereal import car
  from common.basedir import BASEDIR
  from common.params import Params
  from common.spinner import Spinner
  from panda import Panda
  from selfdrive.boardd.boardd import can_list_to_can_capnp
  from selfdrive.car import make_can_msg
  from selfdrive.test.helpers import with_processes
  
  
  def reset_panda(fn):
    @wraps(fn)
    def wrapper():
      p = Panda()
      for i in [0, 1, 2, 0xFFFF]:
        p.can_clear(i)
      p.reset()
      p.close()
      fn()
    return wrapper
  
  os.environ['STARTED'] = '1'
  os.environ['BOARDD_LOOPBACK'] = '1'
  os.environ['BASEDIR'] = BASEDIR
  
  @reset_panda
  @with_processes(['boardd'])
  def test_boardd_loopback():
    # wait for boardd to init
    spinner = Spinner()
    time.sleep(2)
  
    # boardd blocks on CarVin and CarParams
    cp = car.CarParams.new_message()
    cp.safetyModel = car.CarParams.SafetyModel.allOutput
    Params().put("CarVin", b"0"*17)
    Params().put("CarParams", cp.to_bytes())
  
    sendcan = messaging.pub_sock('sendcan')
    can = messaging.sub_sock('can', conflate=False, timeout=100)
  
    time.sleep(1)
  
    n = 1000
    for i in range(n):
      spinner.update(f"boardd loopback {i}/{n}")
  
      sent_msgs = defaultdict(set)
      for _ in range(random.randrange(10)):
        to_send = []
        for __ in range(random.randrange(100)):
          bus = random.randrange(3)
          addr = random.randrange(1, 1<<29)
          dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))])
          sent_msgs[bus].add((addr, dat))
          to_send.append(make_can_msg(addr, dat, bus))
        sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
  
      max_recv = 10
      while max_recv > 0 and any(len(sent_msgs[bus]) for bus in range(3)):
        recvd = messaging.drain_sock(can, wait_for_one=True)
        for msg in recvd:
          for m in msg.can:
            if m.src >= 128:
              k = (m.address, m.dat)
              assert k in sent_msgs[m.src-128]
              sent_msgs[m.src-128].discard(k)
        max_recv -= 1
  
      # if a set isn't empty, messages got dropped
      for bus in range(3):
        assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
  
    spinner.close()
  
  
  if __name__ == "__main__":
      test_boardd_loopback()
  
new_contents: #!/usr/bin/env python3
  import os
  import random
  import time
  from collections import defaultdict
  from functools import wraps
  
  import cereal.messaging as messaging
  from cereal import car
  from common.basedir import BASEDIR
  from common.params import Params
  from common.spinner import Spinner
  from panda import Panda
  from selfdrive.boardd.boardd import can_list_to_can_capnp
  from selfdrive.car import make_can_msg
  from selfdrive.test.helpers import with_processes
  
  
  def reset_panda(fn):
    @wraps(fn)
    def wrapper():
      p = Panda()
      for i in [0, 1, 2, 0xFFFF]:
        p.can_clear(i)
      p.reset()
      p.close()
      fn()
    return wrapper
  
  os.environ['STARTED'] = '1'
  os.environ['BOARDD_LOOPBACK'] = '1'
  os.environ['BASEDIR'] = BASEDIR
  
  @reset_panda
  @with_processes(['pandad'])
  def test_boardd_loopback():
    # wait for boardd to init
    spinner = Spinner()
    time.sleep(2)
  
    # boardd blocks on CarVin and CarParams
    cp = car.CarParams.new_message()
    cp.safetyModel = car.CarParams.SafetyModel.allOutput
    Params().put("CarVin", b"0"*17)
    Params().put("CarParams", cp.to_bytes())
  
    sendcan = messaging.pub_sock('sendcan')
    can = messaging.sub_sock('can', conflate=False, timeout=100)
  
    time.sleep(1)
  
    n = 1000
    for i in range(n):
      spinner.update(f"boardd loopback {i}/{n}")
  
      sent_msgs = defaultdict(set)
      for _ in range(random.randrange(10)):
        to_send = []
        for __ in range(random.randrange(100)):
          bus = random.randrange(3)
          addr = random.randrange(1, 1<<29)
          dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))])
          sent_msgs[bus].add((addr, dat))
          to_send.append(make_can_msg(addr, dat, bus))
        sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
  
      max_recv = 10
      while max_recv > 0 and any(len(sent_msgs[bus]) for bus in range(3)):
        recvd = messaging.drain_sock(can, wait_for_one=True)
        for msg in recvd:
          for m in msg.can:
            if m.src >= 128:
              k = (m.address, m.dat)
              assert k in sent_msgs[m.src-128]
              sent_msgs[m.src-128].discard(k)
        max_recv -= 1
  
      # if a set isn't empty, messages got dropped
      for bus in range(3):
        assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
  
    spinner.close()
  
  
  if __name__ == "__main__":
      test_boardd_loopback()
  
subject: fix boardd loopback test after #19880