Honda Bosch: gather available ECUs from camera (#27180)

* add flag

* actually use in fw_versions.py

* simpler

* not here

* Comment

* better name

* add param and block

* keys

keys

* block

* with a value

with a value

* add query for bosch PT bus

* different name

* fix

* .

* fix test

fix test

* add cloulogs

* mark as logging

common/params.cc

@@ -155,6 +155,7 @@ 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/boardd.cc

@@ -137,6 +137,8 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
   }
 
+  p.putBool("ObdMultiplexingDisabled", true);
+
   std::string params;
   LOGW("waiting for params to set safety model");
   while (true) {

selfdrive/car/car_helpers.py

@@ -116,7 +116,6 @@ def fingerprint(logcan, sendcan, num_pandas):
 
   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

selfdrive/car/fw_query_definitions.py

@@ -59,6 +59,8 @@ class Request:
   bus: int = 1
   # FW responses from these queries will not be used for fingerprinting
   logging: bool = False
+  # These requests are done once OBD multiplexing is disabled, after all others
+  non_obd: bool = False
 
 
 @dataclass

selfdrive/car/fw_versions.py

@@ -5,6 +5,7 @@ from tqdm import tqdm
 
 import panda.python.uds as uds
 from cereal import car
+from common.params import Params
 from selfdrive.car.ecu_addrs import get_ecu_addrs
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
@@ -89,7 +90,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
     return set()
 
 
-def match_fw_to_car_exact(fw_versions_dict):
+def match_fw_to_car_exact(fw_versions_dict) -> Set[str]:
   """Do an exact FW match. Returns all cars that match the given
   FW versions for a list of "essential" ECUs. If an ECU is not considered
   essential the FW version can be missing to get a fingerprint, but if it's present it
@@ -202,6 +203,7 @@ 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)
@@ -209,12 +211,25 @@ 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
 
+  # Do non-OBD queries for matched brand, or all if no match is found
+  params = Params()
+  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")
+
+  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))
+
   return all_car_fw
 
 
-def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, obd_multiplexed=True, debug=False, progress=False):
   versions = VERSIONS.copy()
 
   # Each brand can define extra ECUs to query for data collection
@@ -262,6 +277,9 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
         # Skip query if no panda available
         if r.bus > num_pandas * 4 - 1:
           continue
+        # Or if request is not designated for current multiplexing mode
+        elif r.non_obd == obd_multiplexed:
+          continue
 
         try:
           addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and

selfdrive/car/honda/values.py

@@ -171,14 +171,22 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [HONDA_VERSION_REQUEST],
       [HONDA_VERSION_RESPONSE],
       bus=1,
-      logging=True
+      logging=True,
     ),
-    # Query Nidec PT bus from camera for data collection
+    # Nidec PT bus
     Request(
       [StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.UDS_VERSION_RESPONSE],
       bus=0,
-      logging=True
+      logging=True,
+    ),
+    # Bosch PT bus
+    Request(
+      [StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.UDS_VERSION_RESPONSE],
+      bus=1,
+      logging=True,
+      non_obd=True,
     ),
   ],
   extra_ecus=[

selfdrive/controls/tests/test_startup.py

@@ -72,6 +72,7 @@ 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: