clean up (some tests may temp break)

common/params.cc

@@ -157,7 +157,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"NavSettingTime24h", PERSISTENT},
     {"NavSettingLeftSide", PERSISTENT},
     {"NavdRender", PERSISTENT},
-//    {"ObdMultiplexingDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -51,7 +51,7 @@ class TestBoardd(unittest.TestCase):
     cp.safetyConfigs = [safety_config]*num_pandas
 
     params = Params()
-    params.put_bool("FirmwareObdQueryDone", True)
+    params.put_bool("FirmwareQueryDone", True)
     params.put_bool("ControlsReady", True)
     params.put("CarParams", cp.to_bytes())
 

selfdrive/car/fw_versions.py

@@ -198,15 +198,6 @@ def get_brand_ecu_matches(ecu_rx_addrs):
   return brand_matches
 
 
-def disable_obd_multiplexing(params):
-  if not params.get_bool("ObdMultiplexingDisabled"):
-    params.put_bool("FirmwareObdQueryDone", True)
-
-    cloudlog.warning("Waiting for OBD multiplexing to be disabled")
-    params.get_bool("ObdMultiplexingDisabled", block=True)
-    cloudlog.warning("OBD multiplexing disabled")
-
-
 def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
@@ -221,9 +212,6 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
     if len(matches) == 1:
       break
 
-  # TODO: write a param later on telling boardd we're done with fingerprinting!
-  # disable_obd_multiplexing(Params())
-
   return all_car_fw
 
 

selfdrive/controls/tests/test_startup.py

@@ -72,7 +72,6 @@ class TestStartup(unittest.TestCase):
     params.clear_all()
     params.put_bool("Passive", False)
     params.put_bool("OpenpilotEnabledToggle", True)
-    params.put_bool("ObdMultiplexingDisabled", True)
 
     # Build capnn version of FW array
     if fw_versions is not None:

selfdrive/test/process_replay/process_replay.py

@@ -397,7 +397,6 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None, lr=None):
   params.put_bool("DisengageOnAccelerator", True)
   params.put_bool("WideCameraOnly", False)
   params.put_bool("DisableLogging", False)
-  params.put_bool("ObdMultiplexingDisabled", True)
 
   os.environ["NO_RADAR_SLEEP"] = "1"
   os.environ["REPLAY"] = "1"