clean up common type

selfdrive/car/ecu_addrs.py

@@ -9,6 +9,8 @@ from selfdrive.car import make_can_msg
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from system.swaglog import cloudlog
 
+EcuAddrBusType = Tuple[int, Optional[int], int]
+
 
 def make_tester_present_msg(addr, bus, subaddr=None):
   dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
@@ -33,16 +35,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd
   return False
 
 
-def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]:
+def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]:
   addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
-  queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list}
+  queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
   responses = queries
   return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
 
 
-def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]],
+def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType],
-                  responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]:
+                  responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]:
-  ecu_responses: Set[Tuple[int, Optional[int], int]] = set()  # set((addr, subaddr, bus),)
+  ecu_responses: Set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
   try:
     msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
 

selfdrive/car/fw_versions.py

@@ -1,13 +1,13 @@
 #!/usr/bin/env python3
 import time
 from collections import defaultdict
-from typing import Any, Dict, List, Optional, Set, Tuple
+from typing import Any, Dict, List, Set
 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.ecu_addrs import EcuAddrBusType, get_ecu_addrs
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
@@ -147,10 +147,10 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
   return True, set()
 
 
-def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]:
+def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
   params = Params()
-  queries: Dict[bool, List[List[Tuple[int, Optional[int], int]]]] = defaultdict(list)
+  queries: Dict[bool, List[List[EcuAddrBusType]]] = defaultdict(list)
-  parallel_queries: Dict[bool, List[Tuple[int, Optional[int], int]]] = defaultdict(list)
+  parallel_queries: Dict[bool, List[EcuAddrBusType]] = defaultdict(list)
   responses = set()
 
   for brand, r in REQUESTS: