I think we can remove SimpleNamespace soon

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
@@ -48,7 +50,11 @@ def can_fingerprint(next_can: Callable) -> tuple[str | None, dict[int, dict]]:
   done = False
 
   while not done:
-    for can in next_can():
+    # 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:
@@ -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