mirror of https://github.com/commaai/panda.git
30 lines
858 B
Python
30 lines
858 B
Python
import time
|
|
|
|
from panda import Panda
|
|
|
|
|
|
def test_safety_nooutput(p):
|
|
p.set_safety_mode(Panda.SAFETY_SILENT)
|
|
p.set_can_loopback(True)
|
|
|
|
# send a message on bus 0
|
|
p.can_send(0x1aa, b"message", 0)
|
|
|
|
# confirm receive nothing
|
|
time.sleep(0.05)
|
|
r = p.can_recv()
|
|
# bus 192 is messages blocked by TX safety hook on bus 0
|
|
assert len([x for x in r if x[2] != 192]) == 0
|
|
assert len([x for x in r if x[2] == 192]) == 1
|
|
|
|
|
|
def test_canfd_safety_modes(p):
|
|
# works on all pandas
|
|
p.set_safety_mode(Panda.SAFETY_TOYOTA)
|
|
assert p.health()['safety_mode'] == Panda.SAFETY_TOYOTA
|
|
|
|
# shouldn't be able to set a CAN-FD safety mode on non CAN-FD panda
|
|
p.set_safety_mode(Panda.SAFETY_HYUNDAI_CANFD)
|
|
expected_mode = Panda.SAFETY_HYUNDAI_CANFD if p.get_type() in Panda.H7_DEVICES else Panda.SAFETY_SILENT
|
|
assert p.health()['safety_mode'] == expected_mode
|