better

selfdrive/car/car_helpers.py

@@ -9,19 +9,11 @@ from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, al
 from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car
 from openpilot.selfdrive.car.mock.values import CAR as MOCK
-import cereal.messaging as messaging
 from openpilot.selfdrive.car import gen_empty_fingerprint
 
 FRAME_FINGERPRINT = 100  # 1s
 
 
-def get_one_can(logcan):
-  while True:
-    can = messaging.recv_one_retry(logcan)
-    if len(can.can) > 0:
-      return can
-
-
 def load_interfaces(brand_names):
   ret = {}
   for brand_name in brand_names:
@@ -138,9 +130,8 @@ def fingerprint(logcan, sendcan, set_obd_multiplexing, num_pandas, cached_params
 
   # CAN fingerprint
   # drain CAN socket so we get the latest messages
-  # messaging.drain_sock_raw(logcan)
+  logcan.drain()
-  logcan()
+  car_fingerprint, finger = can_fingerprint(logcan.get_one_can)
-  car_fingerprint, finger = can_fingerprint(lambda: get_one_can(logcan))
 
   exact_match = True
   source = car.CarParams.FingerprintSource.can

selfdrive/car/card.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import os
 import time
+from types import SimpleNamespace
 
 import cereal.messaging as messaging
 
@@ -15,7 +16,7 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.car import DT_CTRL, carlog, make_can_msg
 from openpilot.selfdrive.car.fw_versions import ObdCallback
-from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
+from openpilot.selfdrive.car.car_helpers import get_car
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
 
@@ -38,6 +39,13 @@ def obd_callback(params: Params) -> ObdCallback:
   return set_obd_multiplexing
 
 
+def get_one_can(logcan):
+  while True:
+    can = messaging.recv_one_retry(logcan)
+    if len(can.can) > 0:
+      return can
+
+
 def can_recv_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket):
   def can_recv(wait_for_one: bool = False) -> list[list[int, bytes, int]]:  # call rx/tx?
     can_packets = messaging.drain_sock(logcan, wait_for_one=wait_for_one)
@@ -46,7 +54,7 @@ def can_recv_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
   def can_send(msg: list[int, bytes, int]) -> None:
     sendcan.send(can_list_to_can_capnp([msg], msgtype='sendcan'))
 
-  return can_recv, can_send
+  return SimpleNamespace(drain=can_recv, get_one_can=lambda: get_one_can(logcan)), SimpleNamespace(send=can_send)
 
 
 class Car: