openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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import time
from opendbc.car.structs import CarParams
def test_safety_nooutput(p):
p.set_safety_mode(CarParams.SafetyModel.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