clean up

selfdrive/car/fw_versions.py

@@ -206,10 +206,9 @@ def get_present_ecus_original(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, O
 
 
 def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]:
-  # TODO: batch requests by multiplexed OBD
   params = Params()
-  queries = {"obd": [], "non_obd": []}  # list()
+  queries = defaultdict(list)
-  parallel_queries = {"obd": [], "non_obd": []}  # list()
+  parallel_queries = defaultdict(list)
   responses = set()
 
   for brand, r in REQUESTS:
@@ -224,25 +223,24 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[i
           a = (addr, sub_addr, r.bus)
           print((a, r.non_obd))
           # Build set of queries
-          multiplexed_key = "non_obd" if r.non_obd else "obd"
           if sub_addr is None:
-            if a not in parallel_queries[multiplexed_key]:
+            if a not in parallel_queries[r.non_obd]:
-              parallel_queries[multiplexed_key].append(a)
+              parallel_queries[r.non_obd].append(a)
           else:  # subaddresses must be queried one by one
-            if [a] not in queries[multiplexed_key]:
+            if [a] not in queries[r.non_obd]:
-              queries[multiplexed_key].append([a])
+              queries[r.non_obd].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 multiplexed_key in queries:
+  for non_obd in queries:
-    queries[multiplexed_key].insert(0, parallel_queries[multiplexed_key])
+    queries[non_obd].insert(0, parallel_queries[non_obd])
 
   ecu_responses = set()
-  for multiplexed_key in queries:
+  for non_obd in queries:
-    set_obd_multiplexing(params, multiplexed_key == 'obd')
+    set_obd_multiplexing(params, not non_obd)
-    for query in queries[multiplexed_key]:
+    for query in queries[non_obd]:
       ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
   return ecu_responses