From 66e425fea96a18ee7a597f45bd82e7fbf5cc1e7f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 22 Mar 2023 20:57:11 -0700
Subject: [PATCH] flip argument around, clean up

---
 selfdrive/car/fw_query_definitions.py |  2 +-
 selfdrive/car/fw_versions.py          | 38 ++++++++-------------------
 selfdrive/car/honda/values.py         |  2 +-
 3 files changed, 13 insertions(+), 29 deletions(-)

diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index ebce056660..a38b232e42 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -60,7 +60,7 @@ class Request:
   # FW responses from these queries will not be used for fingerprinting
   logging: bool = False
   # boardd toggles OBD multiplexing on/off as needed for these requests
-  non_obd: bool = False
+  obd_multiplexing: bool = True
 
 
 @dataclass
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 88e886672a..0674a1f409 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -147,22 +147,6 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
   return True, set()
 
 
-def get_brand_addrs_bus(num_pandas=1):
-  brand_addrs = defaultdict(set)
-  for brand, r in REQUESTS:
-    # Skip query if no panda available
-    if r.bus > num_pandas * 4 - 1:
-      continue
-
-    for brand_versions in VERSIONS[brand].values():
-      for ecu_type, addr, sub_addr in brand_versions:
-        # Only query ecus in whitelist if whitelist is not empty
-        if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
-          brand_addrs[brand].add((addr, sub_addr, r.bus))
-
-  return brand_addrs
-
-
 def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]:
   params = Params()
   queries = defaultdict(list)
@@ -179,26 +163,26 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[i
         # Only query ecus in whitelist if whitelist is not empty
         if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
           a = (addr, sub_addr, r.bus)
-          print((a, r.non_obd))
+          print((a, r.obd_multiplexing))
           # Build set of queries
           if sub_addr is None:
-            if a not in parallel_queries[r.non_obd]:
-              parallel_queries[r.non_obd].append(a)
+            if a not in parallel_queries[r.obd_multiplexing]:
+              parallel_queries[r.obd_multiplexing].append(a)
           else:  # subaddresses must be queried one by one
-            if [a] not in queries[r.non_obd]:
-              queries[r.non_obd].append([a])
+            if [a] not in queries[r.obd_multiplexing]:
+              queries[r.obd_multiplexing].append([a])
 
           # Build set of expected responses to filter
           response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
           responses.add((response_addr, sub_addr, r.bus))
 
-  for non_obd in queries:
-    queries[non_obd].insert(0, parallel_queries[non_obd])
+  for obd_multiplexing in queries:
+    queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing])
 
   ecu_responses = set()
-  for non_obd in queries:
-    set_obd_multiplexing(params, not non_obd)
-    for query in queries[non_obd]:
+  for obd_multiplexing in queries:
+    set_obd_multiplexing(params, obd_multiplexing)
+    for query in queries[obd_multiplexing]:
       ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
   return ecu_responses
 
@@ -298,7 +282,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
         # Toggle OBD multiplexing for each request
         _t = time.perf_counter()
-        set_obd_multiplexing(params, not r.non_obd)
+        set_obd_multiplexing(params, r.obd_multiplexing)
         print('Took {} s to change OBD multiplexing!'.format(time.perf_counter() - _t))
 
         try:
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 0737bea147..009a549afd 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -186,7 +186,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.UDS_VERSION_RESPONSE],
       bus=1,
       logging=True,
-      non_obd=True,
+      obd_multiplexing=False,
     ),
   ],
   extra_ecus=[