From 32b263d0cc16b001e663d454e5464db33a018d79 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 7 Aug 2024 17:41:14 -0700
Subject: [PATCH] I think we can remove SimpleNamespace soon

---
 selfdrive/car/car_helpers.py | 56 ++++++++++++++++++++----------------
 1 file changed, 31 insertions(+), 25 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 921e4a5c96..ad37639f2d 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -1,9 +1,11 @@
 import os
 import time
 from collections.abc import Callable
+from types import SimpleNamespace
 
 from cereal import car
 from openpilot.selfdrive.car import carlog
+from openpilot.selfdrive.car.can_definitions import CanData, CanSendCallable
 from openpilot.selfdrive.car.interfaces import get_interface_attr
 from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
@@ -40,7 +42,7 @@ interface_names = _get_interface_names()
 interfaces = load_interfaces(interface_names)
 
 
-def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
+def can_fingerprint(logcan: SimpleNamespace) -> tuple[str | None, dict[int, dict]]:
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
@@ -48,32 +50,36 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
   done = False
 
   while not done:
-    for can in next_can():
-      # The fingerprint dict is generated for all buses, this way the car interface
-      # can use it to detect a (valid) multipanda setup and initialize accordingly
-      if can.src < 128:
-        if can.src not in finger:
-          finger[can.src] = {}
-        finger[can.src][can.address] = len(can.dat)
-
+    # logcan.drain(wait_for_one=True) may return empty list or multiple packets,
+    # so we increment frame for each one we receive
+    can_packets = logcan.drain(wait_for_one=True)
+    for can_packet in can_packets:
+      for can in can_packet:
+        # The fingerprint dict is generated for all buses, this way the car interface
+        # can use it to detect a (valid) multipanda setup and initialize accordingly
+        if can.src < 128:
+          if can.src not in finger:
+            finger[can.src] = {}
+          finger[can.src][can.address] = len(can.dat)
+
+        for b in candidate_cars:
+          # Ignore extended messages and VIN query response.
+          if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
+            candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
+
+      # if we only have one car choice and the time since we got our first
+      # message has elapsed, exit
       for b in candidate_cars:
-        # Ignore extended messages and VIN query response.
-        if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
-          candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
-
-    # if we only have one car choice and the time since we got our first
-    # message has elapsed, exit
-    for b in candidate_cars:
-      if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
-        # fingerprint done
-        car_fingerprint = candidate_cars[b][0]
+        if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
+          # fingerprint done
+          car_fingerprint = candidate_cars[b][0]
 
-    # bail if no cars left or we've been waiting for more than 2s
-    failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
-    succeeded = car_fingerprint is not None
-    done = failed or succeeded
+      # bail if no cars left or we've been waiting for more than 2s
+      failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
+      succeeded = car_fingerprint is not None
+      done = failed or succeeded
 
-    frame += 1
+      frame += 1
 
   return car_fingerprint, finger
 
@@ -129,7 +135,7 @@ def fingerprint(logcan, can_send, set_obd_multiplexing, num_pandas, cached_param
   # CAN fingerprint
   # drain CAN socket so we get the latest messages
   logcan.drain()
-  car_fingerprint, finger = can_fingerprint(logcan.get_one_can)
+  car_fingerprint, finger = can_fingerprint(logcan)
 
   exact_match = True
   source = car.CarParams.FingerprintSource.can