As far as I know there is no way. I think it's reasonable to assume that Self Tests will be sequentially numbered starting from one. You can do GET SELF_TEST_DESCRIPTION starting at 1 and keep going until you get a NACK DATA_OUT_OF_RANGE.
This technique will fail if a device has non-sequential self test numbers, but I don't think this will occur very often.
Note that there is a similar situation with Sub-Devices. You can find out how many sub-devs there are, but since they don't have to be sequential, you basically have to scan every possible device until you find the number you are expecting.
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