can also do this!

selfdrive/car/fw_query_definitions.py

@@ -98,7 +98,7 @@ class FwQueryConfig:
         new_request.bus += 4
         self.requests.append(new_request)
 
-  def get_all_ecus(self, fw_versions: OfflineFwVersions, include_ecu: bool = False,
+  def get_all_ecus(self, fw_versions: OfflineFwVersions, include_ecu_type: bool = False,
                    include_extra_ecus: bool = True) -> set[EcuAddrSubAddr | AddrType]:
     # Add ecus in database + extra ecus
     brand_ecus = {ecu for ecus in fw_versions.values() for ecu in ecus}
@@ -106,6 +106,6 @@ class FwQueryConfig:
     if include_extra_ecus:
       brand_ecus |= set(self.extra_ecus)
 
-    if include_ecu:
+    if include_ecu_type:
       return brand_ecus
     return {(addr, subaddr) for _, addr, subaddr in brand_ecus}

selfdrive/car/fw_versions.py

@@ -177,22 +177,21 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
     if r.bus > num_pandas * 4 - 1:
       continue
 
-    for brand_versions in VERSIONS[brand].values():
-      for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus:
-        # Only query ecus in whitelist if whitelist is not empty
-        if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
-          a = (addr, sub_addr, r.bus)
-          # Build set of queries
-          if sub_addr is None:
-            if a not in parallel_queries[r.obd_multiplexing]:
-              parallel_queries[r.obd_multiplexing].append(a)
-          else:  # subaddresses must be queried one by one
-            if [a] not in queries[r.obd_multiplexing]:
-              queries[r.obd_multiplexing].append([a])
-
-          # Build set of expected responses to filter
-          response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
-          responses.add((response_addr, sub_addr, r.bus))
+    for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand], include_ecu_type=True):
+      # Only query ecus in whitelist if whitelist is not empty
+      if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
+        a = (addr, sub_addr, r.bus)
+        # Build set of queries
+        if sub_addr is None:
+          if a not in parallel_queries[r.obd_multiplexing]:
+            parallel_queries[r.obd_multiplexing].append(a)
+        else:  # subaddresses must be queried one by one
+          if [a] not in queries[r.obd_multiplexing]:
+            queries[r.obd_multiplexing].append([a])
+
+        # Build set of expected responses to filter
+        response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
+        responses.add((response_addr, sub_addr, r.bus))
 
   for obd_multiplexing in queries:
     queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing])