import time
from panda import Panda
[docs]
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[3] != 192]) == 0
assert len([x for x in r if x[3] == 192]) == 1
[docs]
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