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allow disabling heartbeat while in non-car safety mode (#1035)

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* allow disabling heartbeat while in non-car safety mode

* simple test

* clean that up

* remove that
This commit is contained in:
Adeeb Shihadeh
2022-08-17 22:42:18 -07:00
committed by GitHub
parent ba8772123f
commit 7e843b370d
9 changed files with 37 additions and 13 deletions
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12
python/__init__.py
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@@ -209,7 +209,7 @@ class Panda:
FLAG_GM_HW_CAM = 1
def __init__(self, serial: Optional[str] = None, claim: bool = True):
def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
self._serial = serial
self._handle = None
self._bcd_device = None
@@ -217,6 +217,11 @@ class Panda:
# connect and set mcu type
self.connect(claim)
# disable openpilot's heartbeat checks
if disable_checks:
self.set_heartbeat_disabled()
self.set_power_save(0)
def close(self):
self._handle.close()
self._handle = None
@@ -552,11 +557,8 @@ class Panda:
self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
time.sleep(0.2)
def set_safety_mode(self, mode=SAFETY_SILENT, param=0, disable_checks=True):
def set_safety_mode(self, mode=SAFETY_SILENT, param=0):
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
if disable_checks:
self.set_heartbeat_disabled()
self.set_power_save(0)
def set_gmlan(self, bus=2):
# TODO: check panda type