carrot/panda/tests/echo.py

#!/usr/bin/env python3
from opendbc.car.structs import CarParams
from panda import Panda

# This script is intended to be used in conjunction with the echo_loopback_test.py test script from panda jungle.
# It sends a reversed response back for every message received containing b"test".
if __name__ == "__main__":
  p = Panda()
  p.set_safety_mode(CarParams.SafetyModel.allOutput)
  p.set_power_save(False)

  while True:
    incoming = p.can_recv()
    for message in incoming:
      address, data, bus = message
      if b'test' in data:
        p.can_send(address, data[::-1], bus)