draft

selfdrive/boardd/boardd.cc

@@ -115,8 +115,8 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
 
   // set to ELM327 for fingerprinting
   for (int i = 0; i < pandas.size(); i++) {
-    const uint16_t safety_param = (i > 0) ? 1U : 0U;
-    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
+//    const uint16_t safety_param = (i > 0) ? 1U : 0U;
+    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 0);
   }
 
   // openpilot can switch between multiplexing modes for different FW queries,
@@ -126,13 +126,15 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
       return false;
     }
 
-    bool obd_multiplexing_requested = p.getBool("ObdMultiplexingRequested");
-    if (obd_multiplexing_requested != p.getBool("ObdMultiplexingEnabled")) {
+//    bool obd_multiplexing_requested = p.getBool("ObdMultiplexingRequested");
+    std::string obd_multiplexing_requested = p.get("ObdMultiplexingRequested");
+    if (!obd_multiplexing_requested.empty()) {
+      const uint16_t safety_param = obd_multiplexing_requested == "1" ? 0U : 1U;
       for (int i = 0; i < pandas.size(); i++) {
-        const uint16_t safety_param = (i > 0) ? (!obd_multiplexing_requested) : 0U;
         pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
       }
-      p.putBool("ObdMultiplexingEnabled", obd_multiplexing_requested);
+      p.remove("ObdMultiplexingRequested", obd_multiplexing_requested);
+//      p.putBool("ObdMultiplexingEnabled", obd_multiplexing_requested);
     }
 
     if (p.getBool("FirmwareQueryDone")) {