From d41cd812d72fafd1e89b33594e66c7303d989aa9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 1 Feb 2023 18:38:00 -0800
Subject: [PATCH] get_present_ecus: check available pandas (#27181)

* add num_pandas to get_present_ecus

* always bugged me

* move this to function signature
old-commit-hash: 2a6de71cc0d369314d098a91baa9984f01b05faa
---
 selfdrive/car/car_helpers.py | 2 +-
 selfdrive/car/ecu_addrs.py   | 2 +-
 selfdrive/car/fw_versions.py | 8 ++++++--
 3 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 88e8c72153..e326209096 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -99,7 +99,7 @@ def fingerprint(logcan, sendcan, num_pandas):
     else:
       cloudlog.warning("Getting VIN & FW versions")
       vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
-      ecu_rx_addrs = get_present_ecus(logcan, sendcan)
+      ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
       car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index 9f6ace2b5f..e5d550fac8 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -87,5 +87,5 @@ if __name__ == "__main__":
   for addr, subaddr, bus in ecu_addrs:
     msg = f"  0x{hex(addr)}"
     if subaddr is not None:
-      msg += f" (sub-address: 0x{hex(subaddr)})"
+      msg += f" (sub-address: {hex(subaddr)})"
     print(msg)
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index f4d92ab960..0db260abbd 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -146,12 +146,16 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
   return True, set()
 
 
-def get_present_ecus(logcan, sendcan):
+def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]:
   queries = list()
   parallel_queries = list()
   responses = set()
 
   for brand, r in REQUESTS:
+    # Skip query if no panda available
+    if r.bus > num_pandas * 4 - 1:
+      continue
+
     for brand_versions in VERSIONS[brand].values():
       for ecu_type, addr, sub_addr in brand_versions:
         # Only query ecus in whitelist if whitelist is not empty
@@ -171,7 +175,7 @@ def get_present_ecus(logcan, sendcan):
 
   queries.insert(0, parallel_queries)
 
-  ecu_responses: Set[Tuple[int, Optional[int], int]] = set()
+  ecu_responses = set()
   for query in queries:
     ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
   return ecu_responses