boardd: enable fingerprinting with both multiplexed modes (#27159)

Co-authored-by: Shane Smiskol <shane@smiskol.com>
old-commit-hash: 0eeb69a5d0

common/params.cc

@@ -111,6 +111,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
+    {"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"ForcePowerDown", CLEAR_ON_MANAGER_START},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},

selfdrive/boardd/boardd.cc

@@ -106,6 +106,8 @@ void sync_time(Panda *panda, SyncTimeDir dir) {
 bool safety_setter_thread(std::vector<Panda *> pandas) {
   LOGD("Starting safety setter thread");
 
+  Params p;
+
   // there should be at least one panda connected
   if (pandas.size() == 0) {
     return false;
@@ -117,25 +119,20 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
   }
 
-  Params p = Params();
+  // wait for FW query at OBD port to finish
-
-  // wait for VIN to be read
   while (true) {
     if (do_exit || !check_all_connected(pandas) || !ignition) {
       return false;
     }
 
-    std::string value_vin = p.get("CarVin");
+    if (p.getBool("FirmwareObdQueryDone")) {
-    if (value_vin.size() > 0) {
+      LOGW("finished FW query at OBD port");
-      // sanity check VIN format
-      assert(value_vin.size() == 17);
-      LOGW("got CarVin %s", value_vin.c_str());
       break;
     }
     util::sleep_for(20);
   }
 
-  // set to ELM327 for ECU knockouts
+  // set to ELM327 to finish fingerprinting and for potential ECU knockouts
   for (Panda *panda : pandas) {
     panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
   }

selfdrive/car/car_helpers.py

@@ -113,7 +113,10 @@ def fingerprint(logcan, sendcan, num_pandas):
     cloudlog.event("Malformed VIN", vin=vin, error=True)
     vin = VIN_UNKNOWN
   cloudlog.warning("VIN %s", vin)
-  Params().put("CarVin", vin)
+
+  params = Params()
+  params.put("CarVin", vin)
+  params.put_bool("FirmwareObdQueryDone", 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