usb logging on topology change (#38495)

speedup usb detection

openpilot/common/hardware/usb.py

@@ -1,3 +1,4 @@
+import os
 from pathlib import Path
 
 CHESTNUT_VENDOR_ID = 0xADD1
@@ -5,6 +6,13 @@ CHESTNUT_PRODUCT_ID = 0x0001
 USB_DEVICES_PATH = Path("/sys/bus/usb/devices")
 
 
+def get_usb_topology() -> set[str]:
+  try:
+    return set(os.listdir(USB_DEVICES_PATH))
+  except OSError:
+    return set()
+
+
 def read(path: Path) -> str | None:
   try:
     return path.read_text().strip()