Add multiple pandas selector (#2015)

* multiple Panda cli helper

* Don't flash all pandas by default. Use --all arg to flash all.

Jenkinsfile

@@ -106,7 +106,7 @@ pipeline {
                 phone_steps("panda-tres", [
                   ["build", "scons -j4"],
                   ["flash", "cd tests/ && ./reflash_internal_panda.py"],
-                  ["flash jungle", "cd board/jungle && ./flash.py"],
+                  ["flash jungle", "cd board/jungle && ./flash.py --all"],
                   ["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"],
                 ])
               }
@@ -118,7 +118,7 @@ pipeline {
                 phone_steps("panda-dos", [
                   ["build", "scons -j4"],
                   ["flash", "cd tests/ && ./reflash_internal_panda.py"],
-                  ["flash jungle", "cd board/jungle && ./flash.py"],
+                  ["flash jungle", "cd board/jungle && ./flash.py --all"],
                   ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"],
                 ])
               }

board/flash.py

@@ -1,18 +1,27 @@
 #!/usr/bin/env python3
 import os
 import subprocess
+import argparse
 
 from panda import Panda
 
 board_path = os.path.dirname(os.path.realpath(__file__))
 
 if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--all", action="store_true", help="Recover all Panda devices")
+  args = parser.parse_args()
+
   subprocess.check_call(f"scons -C {board_path}/.. -j$(nproc) {board_path}", shell=True)
 
-  serials = Panda.list()
+  if args.all:
-  print(f"found {len(serials)} panda(s) - {serials}")
+    serials = Panda.list()
+    print(f"found {len(serials)} panda(s) - {serials}")
+  else:
+    serials = [None]
+
   for s in serials:
-    print("flashing", s)
     with Panda(serial=s) as p:
+      print("flashing", p.get_usb_serial())
       p.flash()
   exit(1 if len(serials) == 0 else 0)

board/jungle/flash.py

@@ -1,19 +1,27 @@
 #!/usr/bin/env python3
 import os
 import subprocess
+import argparse
 
 from panda import PandaJungle
 
 board_path = os.path.dirname(os.path.realpath(__file__))
 
 if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--all", action="store_true", help="Recover all panda jungle devices")
+  args = parser.parse_args()
+
   subprocess.check_call(f"scons -C {board_path}/.. -u -j$(nproc) {board_path}", shell=True)
 
-  serials = PandaJungle.list()
+  if args.all:
-  print(f"found {len(serials)} panda jungle(s) - {serials}")
+    serials = PandaJungle.list()
-  for s in serials:
+    print(f"found {len(serials)} panda jungles(s) - {serials}")
-    print("flashing", s)
+  else:
-    with PandaJungle(serial=s) as p:
+    serials = [None]
-      p.flash()
 
+  for s in serials:
+    with PandaJungle(serial=s) as p:
+      print("flashing", p.get_usb_serial())
+      p.flash()
   exit(1 if len(serials) == 0 else 0)

board/jungle/recover.py

@@ -2,17 +2,23 @@
 import os
 import time
 import subprocess
+import argparse
 
 from panda import PandaJungle, PandaJungleDFU
 
 board_path = os.path.dirname(os.path.realpath(__file__))
 
 if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--all", action="store_true", help="Recover all panda jungle devices")
+  args = parser.parse_args()
+
   subprocess.check_call(f"scons -C {board_path}/.. -u -j$(nproc) {board_path}", shell=True)
 
-  for s in PandaJungle.list():
+  serials = PandaJungle.list() if args.all else [None]
-    print("putting", s, "in DFU mode")
+  for s in serials:
     with PandaJungle(serial=s) as p:
+      print(f"putting {p.get_usb_serial()} in DFU mode")
       p.reset(enter_bootstub=True)
       p.reset(enter_bootloader=True)
 

board/recover.py

@@ -2,17 +2,23 @@
 import os
 import time
 import subprocess
+import argparse
 
 from panda import Panda, PandaDFU
 
 board_path = os.path.dirname(os.path.realpath(__file__))
 
 if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--all", action="store_true", help="Recover all Panda devices")
+  args = parser.parse_args()
+
   subprocess.check_call(f"scons -C {board_path}/.. -j$(nproc) {board_path}", shell=True)
 
-  for s in Panda.list():
+  serials = Panda.list() if args.all else [None]
-    print("putting", s, "in DFU mode")
+  for s in serials:
     with Panda(serial=s) as p:
+      print(f"putting {p.get_usb_serial()} in DFU mode")
       p.reset(enter_bootstub=True)
       p.reset(enter_bootloader=True)
 

python/__init__.py

@@ -224,8 +224,7 @@ class Panda:
   FLAG_FORD_LONG_CONTROL = 1
   FLAG_FORD_CANFD = 2
 
-  def __init__(self, serial: str | None = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500):
+  def __init__(self, serial: str | None = None, claim: bool = True, disable_checks: bool = True, can_speed_kbps: int = 500, cli: bool = True):
-    self._connect_serial = serial
     self._disable_checks = disable_checks
 
     self._handle: BaseHandle
@@ -233,9 +232,38 @@ class Panda:
     self.can_rx_overflow_buffer = b''
     self._can_speed_kbps = can_speed_kbps
 
+    if cli and serial is None:
+        self._connect_serial = self._cli_select_panda()
+    else:
+        self._connect_serial = serial
+
     # connect and set mcu type
     self.connect(claim)
 
+  def _cli_select_panda(self):
+    dfu_pandas = PandaDFU.list()
+    if len(dfu_pandas) > 0:
+      print("INFO: some attached pandas are in DFU mode.")
+
+    pandas = self.list()
+    if len(pandas) == 0:
+      print("INFO: panda not available")
+      return None
+    if len(pandas) == 1:
+      print(f"INFO: connecting to panda {pandas[0]}")
+      time.sleep(1)
+      return pandas[0]
+    while True:
+      print("Multiple pandas available:")
+      pandas.sort()
+      for idx, serial in enumerate(pandas):
+        print(f"{[idx]}: {serial}")
+      try:
+        choice = int(input("Choose serial [0]:") or "0")
+        return pandas[choice]
+      except (ValueError, IndexError):
+        print("Enter a valid index.")
+
   def __enter__(self):
     return self
 
@@ -391,6 +419,12 @@ class Panda:
 
     return context, usb_handle, usb_serial, bootstub, bcd
 
+  def is_connected_spi(self):
+    return isinstance(self._handle, PandaSpiHandle)
+
+  def is_connected_usb(self):
+    return isinstance(self._handle, PandaUsbHandle)
+
   @classmethod
   def list(cls):
     ret = cls.usb_list()