From edef8ed52262ed2a57a19070f40e5f5c077cc35e Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Tue, 20 Feb 2024 15:11:42 -0500
Subject: [PATCH] Simulator: simulate the obd enabled/changed dance (#31519)

obd dance
old-commit-hash: a51ef41cf87c5a8b2eaa5301911051a9d5a8d00c
---
 tools/sim/lib/simulated_car.py     | 8 ++++++++
 tools/sim/lib/simulated_sensors.py | 2 --
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index 85b4ac2387..f6319dd819 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -2,6 +2,7 @@ import cereal.messaging as messaging
 
 from opendbc.can.packer import CANPacker
 from opendbc.can.parser import CANParser
+from openpilot.common.params import Params
 from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
 from openpilot.selfdrive.car import crc8_pedal
 from openpilot.tools.sim.lib.common import SimulatorState
@@ -18,6 +19,8 @@ class SimulatedCar:
     self.sm = messaging.SubMaster(['carControl', 'controlsState', 'carParams'])
     self.cp = self.get_car_can_parser()
     self.idx = 0
+    self.params = Params()
+    self.obd_multiplexing = False
 
   @staticmethod
   def get_car_can_parser():
@@ -100,6 +103,11 @@ class SimulatedCar:
 
   def send_panda_state(self, simulator_state):
     self.sm.update(0)
+
+    if self.params.get_bool("ObdMultiplexingEnabled") != self.obd_multiplexing:
+      self.obd_multiplexing = not self.obd_multiplexing
+      self.params.put_bool("ObdMultiplexingChanged", True)
+
     dat = messaging.new_message('pandaStates', 1)
     dat.valid = True
     dat.pandaStates[0] = {
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index ebbcc6c9e8..df6a0aeeff 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -3,7 +3,6 @@ import time
 from cereal import log
 import cereal.messaging as messaging
 
-from openpilot.common.params import Params
 from openpilot.common.realtime import DT_DMON
 from openpilot.tools.sim.lib.camerad import Camerad
 
@@ -80,7 +79,6 @@ class SimulatedSensors:
       'current': 5678,
       'fanSpeedRpm': 1000
     }
-    Params().put_bool("ObdMultiplexingEnabled", False)
     self.pm.send('peripheralState', dat)
 
   def send_fake_driver_monitoring(self):