match behavior (set all pandas to safety param of 1, disabling multiplexing for fingerprinting

selfdrive/car/car_helpers.py

@@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import disable_obd_multiplexing, get_fw_versions_ordered, match_fw_to_car, get_present_ecus
+from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
@@ -116,7 +116,9 @@ def fingerprint(logcan, sendcan, num_pandas):
 
   params = Params()
   params.put("CarVin", vin)
-  disable_obd_multiplexing(params)
+  # TODO: does this matter for CAN fingerprinting? we can rm if not
+  set_obd_multiplexing(params, False)
+  params.put_bool("FirmwareQueryDone", True)
 
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1

selfdrive/car/fw_versions.py

@@ -212,7 +212,6 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
 
   all_car_fw = []
   brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
-  matched_brand: Optional[str] = None
 
   for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
     car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
@@ -220,15 +219,10 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
     # Try to match using FW returned from this brand only
     matches = match_fw_to_car_exact(build_fw_dict(car_fw))
     if len(matches) == 1:
-      matched_brand = brand
       break
 
-  disable_obd_multiplexing(Params())
-
-  # Do non-OBD queries for matched brand, or all if no match is found
-  for brand in FW_QUERY_CONFIGS.keys():
-    if brand == matched_brand or matched_brand is None:
-      all_car_fw.extend(get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, obd_multiplexed=False, debug=debug, progress=progress))
+  # TODO: write a param later on telling boardd we're done with fingerprinting!
+  # disable_obd_multiplexing(Params())
 
   return all_car_fw
 
@@ -242,7 +236,7 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
     cloudlog.warning(f"OBD multiplexing set successfully")
 
 
-def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, obd_multiplexed=True, debug=False, progress=False):
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
   versions = VERSIONS.copy()
   params = Params()