2024-06-11 01:36:40 +00:00
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import time
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2025-03-08 09:09:31 +00:00
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from opendbc.car.structs import CarParams
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2024-06-11 01:36:40 +00:00
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from panda import Panda
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def test_safety_nooutput(p):
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2025-03-08 09:09:31 +00:00
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p.set_safety_mode(CarParams.SafetyModel.silent)
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2024-06-11 01:36:40 +00:00
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p.set_can_loopback(True)
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# send a message on bus 0
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p.can_send(0x1aa, b"message", 0)
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# confirm receive nothing
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time.sleep(0.05)
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r = p.can_recv()
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# bus 192 is messages blocked by TX safety hook on bus 0
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2025-03-08 09:09:31 +00:00
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assert len([x for x in r if x[2] != 192]) == 0
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assert len([x for x in r if x[2] == 192]) == 1
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2024-06-11 01:36:40 +00:00
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def test_canfd_safety_modes(p):
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# works on all pandas
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2025-03-08 09:09:31 +00:00
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p.set_safety_mode(CarParams.SafetyModel.toyota)
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assert p.health()['safety_mode'] == CarParams.SafetyModel.toyota
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2024-06-11 01:36:40 +00:00
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# shouldn't be able to set a CAN-FD safety mode on non CAN-FD panda
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2025-03-08 09:09:31 +00:00
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p.set_safety_mode(CarParams.SafetyModel.hyundaiCanfd)
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expected_mode = CarParams.SafetyModel.hyundaiCanfd if p.get_type() in Panda.H7_DEVICES else CarParams.SafetyModel.silent
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2024-06-11 01:36:40 +00:00
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assert p.health()['safety_mode'] == expected_mode
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