modeld: retain SNPE and thneed drive model support (#530)

* modeld: Retain pre-20hz drive model support

* Method not available anymore on OP

* some fixes

* Revert "Long planner get accel: new function args (#34288)"

* Revert "Fix low-speed allow_throttle behavior in long planner (#33894)"

* Revert "long planner: allow throttle reflects usage (#33792)"

* Revert "Gate acceleration on model gas press predictions (#33643)"

* Reapply "Gate acceleration on model gas press predictions (#33643)"

This reverts commit 76b08e37cb8eb94266ad9f6fed80db227e7c3428.

* Reapply "long planner: allow throttle reflects usage (#33792)"

This reverts commit c75244ca4e9c48084b0205b7c871e1a4e0f4e693.

* Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)"

This reverts commit b2b7d21b7b685a2785d1beede3d223f0bb954807.

* Reapply "Long planner get accel: new function args (#34288)"

This reverts commit 74dca2fccf4da59cc8ac62ba9c0ad10ba3fc264b.

* don't need

* retain snpe

* wrong

* they're symlinks

* remove

* put back into VCS

* add back

* don't include built

* Refactor model runner retrieval with caching support

Added caching for active model runner type via `ModelRunnerTypeCache` to enhance performance and avoid redundant checks. Introduced a `force_check` flag to bypass the cache when necessary. Updated related code to handle cache clearing during onroad transitions.

* Update model runner determination logic with caching fix

Enhances `get_active_model_runner` to utilize caching more effectively by ensuring type consistency and updating cache only when necessary. Also updates `is_snpe_model` to pass the `started` state to the runner determination function, improving behavior for dynamic checks.

* default to none

* enable in next PR

* more

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>

system/manager/process_config.py

@@ -5,6 +5,7 @@ from cereal import car
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
+
 from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -70,6 +71,14 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for use_sunnylink_uploader to match the process manager signature."""
   return use_sunnylink_uploader(params)
 
+def is_snpe_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is SNPE."""
+  return False  # FIXME-SP: Enable in future PR
+
+def is_stock_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is stock."""
+  return not is_snpe_model(started, params, CP)
+
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -93,7 +102,7 @@ procs = [
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
+  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], and_(only_onroad, is_stock_model)),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
@@ -135,6 +144,7 @@ procs = [
 # sunnypilot
 procs += [
   PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
+  NativeProcess("modeld_snpe", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
 ]
 
 if os.path.exists("./github_runner.sh"):