python: show SPI pandas in list (#1216)

* refactor connect

* spi list

* add back bcd

* couple fixes

* fix

Co-authored-by: Comma Device <device@comma.ai>

python/__init__.py

@@ -255,11 +255,14 @@ class Panda:
     self._handle = None
 
     # try USB first, then SPI
-    self.usb_connect(claim=claim, wait=wait)
+    self._handle, serial, self.bootstub, self._bcd_device = self.usb_connect(self._serial, claim=claim, wait=wait)
     if self._handle is None:
-      self.spi_connect()
+      self._handle, serial, self.bootstub, _ = self.spi_connect(self._serial)
 
-    assert self._handle is not None
+    if self._handle is None:
+      raise Exception("failed to connect to panda")
+
+    self._serial = serial
     self._mcu_type = self.get_mcu_type()
     self.health_version, self.can_version, self.can_health_version = self.get_packets_versions()
     logging.debug("connected")
@@ -269,24 +272,29 @@ class Panda:
       self.set_heartbeat_disabled()
       self.set_power_save(0)
 
-  def spi_connect(self):
+  @staticmethod
+  def spi_connect(serial):
     # get UID to confirm slave is present and up
+    handle = None
     spi_serial = None
     try:
-      self._handle = SpiHandle()
-      spi_serial = self.get_uid()
+      handle = SpiHandle()
+      dat = handle.controlRead(Panda.REQUEST_IN, 0xc3, 0, 0, 12)
+      spi_serial = binascii.hexlify(dat).decode()
     except PandaSpiException:
       pass
 
-    if spi_serial is not None and ((self._serial is None) or (self._serial == spi_serial)):
-      self._serial = spi_serial
-      # TODO: detect this
-      self.bootstub = False
-    else:
-      # failed to connect
-      self._handle = None
+    # no connection or wrong panda
+    if spi_serial is None or (serial is not None and (spi_serial != serial)):
+      handle = None
+      spi_serial = None
 
-  def usb_connect(self, claim=True, wait=False):
+    # TODO: detect bootstub
+    return handle, spi_serial, False, None
+
+  @staticmethod
+  def usb_connect(serial, claim=True, wait=False):
+    handle, usb_serial, bootstub, bcd = None, None, None, None
     context = usb1.USBContext()
     while 1:
       try:
@@ -297,29 +305,64 @@ class Panda:
             except Exception:
               continue
 
-            if self._serial is None or this_serial == self._serial:
-              self._serial = this_serial
+            if serial is None or this_serial == serial:
               logging.debug("opening device %s %s", this_serial, hex(device.getProductID()))
-              self.bootstub = device.getProductID() == 0xddee
-              self._handle = device.open()
+
+              usb_serial = this_serial
+              bootstub = device.getProductID() == 0xddee
+              handle = device.open()
               if sys.platform not in ("win32", "cygwin", "msys", "darwin"):
-                self._handle.setAutoDetachKernelDriver(True)
+                handle.setAutoDetachKernelDriver(True)
               if claim:
-                self._handle.claimInterface(0)
-                # self._handle.setInterfaceAltSetting(0, 0)  # Issue in USB stack
+                handle.claimInterface(0)
+                # handle.setInterfaceAltSetting(0, 0)  # Issue in USB stack
 
               # bcdDevice wasn't always set to the hw type, ignore if it's the old constant
-              bcd = device.getbcdDevice()
-              if bcd is not None and bcd != 0x2300:
-                self._bcd_device = bytearray([bcd >> 8, ])
+              this_bcd = device.getbcdDevice()
+              if this_bcd is not None and this_bcd != 0x2300:
+                bcd = bytearray([this_bcd >> 8, ])
 
               break
       except Exception:
         logging.exception("USB connect error")
-      if not wait or self._handle is not None:
+      if not wait or handle is not None:
         break
       context = usb1.USBContext()  # New context needed so new devices show up
 
+    return handle, usb_serial, bootstub, bcd
+
+  @staticmethod
+  def list():
+    ret = Panda.usb_list()
+    ret += Panda.spi_list()
+    return list(set(ret))
+
+  @staticmethod
+  def usb_list():
+    context = usb1.USBContext()
+    ret = []
+    try:
+      for device in context.getDeviceList(skip_on_error=True):
+        if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
+          try:
+            serial = device.getSerialNumber()
+            if len(serial) == 24:
+              ret.append(serial)
+            else:
+              warnings.warn(f"found device with panda descriptors but invalid serial: {serial}", RuntimeWarning)
+          except Exception:
+            continue
+    except Exception:
+      pass
+    return ret
+
+  @staticmethod
+  def spi_list():
+    _, serial, _, _ = Panda.spi_connect(None)
+    if serial is not None:
+      return [serial, ]
+    return []
+
   def reset(self, enter_bootstub=False, enter_bootloader=False, reconnect=True):
     try:
       if enter_bootloader:
@@ -444,25 +487,6 @@ class Panda:
         return False
     return True
 
-  @staticmethod
-  def list():
-    context = usb1.USBContext()
-    ret = []
-    try:
-      for device in context.getDeviceList(skip_on_error=True):
-        if device.getVendorID() == 0xbbaa and device.getProductID() in (0xddcc, 0xddee):
-          try:
-            serial = device.getSerialNumber()
-            if len(serial) == 24:
-              ret.append(serial)
-            else:
-              warnings.warn(f"found device with panda descriptors but invalid serial: {serial}", RuntimeWarning)
-          except Exception:
-            continue
-    except Exception:
-      pass
-    return ret
-
   def call_control_api(self, msg):
     self._handle.controlWrite(Panda.REQUEST_OUT, msg, 0, 0, b'')