From 7a7b391656e7d0d29213cd6f4d3b13d5194d41cd Mon Sep 17 00:00:00 2001
From: firestarsdog <229254897+firestarsdog@users.noreply.github.com>
Date: Sun, 13 Sep 2026 22:36:58 -0400
Subject: [PATCH] stop lying on my chestnut

---
 starpilot/assets/model_manager.py             | 19 +++++++
 starpilot/assets/tests/test_model_pipeline.py | 55 +++++++++++++++++++
 system/hardware/hardwared.py                  |  6 +-
 3 files changed, 79 insertions(+), 1 deletion(-)

diff --git a/starpilot/assets/model_manager.py b/starpilot/assets/model_manager.py
index 32d1ae5307..05d3bdf080 100644
--- a/starpilot/assets/model_manager.py
+++ b/starpilot/assets/model_manager.py
@@ -265,6 +265,25 @@ def model_accelerator_artifact_installed(model_key: str, accelerator: str = MODE
   )
 
 
+def selected_chestnut_artifacts_ready(params) -> bool:
+  """Return whether the selected Chestnut workload is installed for offroad diagnostics."""
+  big_model_id, _, _ = get_model_profile(params, "big")
+  if big_model_id and file_chunked_exists(MODELS_PATH / driving_artifact_filename(big_model_id)):
+    return True
+
+  config = load_model_lab_config(params)
+  lateral_model_id = canonical_model_key(config["lateralModel"])
+  longitudinal_model_id = canonical_model_key(config["longitudinalModel"])
+  return bool(
+    config["enabled"] and
+    lateral_model_id and
+    longitudinal_model_id and
+    lateral_model_id != longitudinal_model_id and
+    model_accelerator_artifact_installed(lateral_model_id) and
+    model_accelerator_artifact_installed(longitudinal_model_id)
+  )
+
+
 def external_gpu_available() -> bool:
   """Return whether the supported external GPU link is ready for modeld."""
   try:
diff --git a/starpilot/assets/tests/test_model_pipeline.py b/starpilot/assets/tests/test_model_pipeline.py
index 5b63e391d9..5490a07d71 100644
--- a/starpilot/assets/tests/test_model_pipeline.py
+++ b/starpilot/assets/tests/test_model_pipeline.py
@@ -211,6 +211,61 @@ def test_disabled_big_profile_does_not_migrate_from_legacy_selection(tmp_path, m
   assert "ActiveBigModelVersion" not in params.values
 
 
+def test_selected_chestnut_artifacts_ready_ignores_cleared_runtime_flag(tmp_path, monkeypatch):
+  monkeypatch.setattr(model_manager, "MODELS_PATH", tmp_path)
+  (tmp_path / model_manager.ARTIFACT_METADATA_CACHE).write_text(json.dumps({
+    "big-one": {"uses_external_gpu": True},
+  }))
+  (tmp_path / "big-one_driving_tinygrad.pkl").write_bytes(b"compiled")
+
+  class FakeParams:
+    def __init__(self):
+      self.values = {
+        "ActiveBigModel": "big-one",
+        "ActiveBigModelName": "Big One",
+        "ActiveBigModelVersion": "v16",
+        "UsbGpuCompiled": False,
+      }
+
+    def get(self, key):
+      return self.values.get(key)
+
+  params = FakeParams()
+  assert not params.get("UsbGpuCompiled")
+  assert model_manager.selected_chestnut_artifacts_ready(params)
+
+  (tmp_path / "big-one_driving_tinygrad.pkl").unlink()
+  assert not model_manager.selected_chestnut_artifacts_ready(params)
+
+
+def test_selected_chestnut_artifacts_ready_accepts_model_lab_pair(tmp_path, monkeypatch):
+  monkeypatch.setattr(model_manager, "MODELS_PATH", tmp_path)
+  (tmp_path / model_manager.ARTIFACT_METADATA_CACHE).write_text(json.dumps({
+    model_id: {
+      "uses_external_gpu": False,
+      "accelerator_artifacts": {"chestnut": {"execution_device": "AMD"}},
+    }
+    for model_id in ("lateral", "longitudinal")
+  }))
+  for model_id in ("lateral", "longitudinal"):
+    (tmp_path / f"{model_id}_driving_chestnut_tinygrad.pkl").write_bytes(b"compiled")
+
+  class FakeParams:
+    def get(self, key):
+      return {
+        "ActiveBigModel": "none",
+        "ModelLabConfig": {
+          "enabled": True,
+          "lateralModel": "lateral",
+          "longitudinalModel": "longitudinal",
+        },
+      }.get(key)
+
+  assert model_manager.selected_chestnut_artifacts_ready(FakeParams())
+  (tmp_path / "longitudinal_driving_chestnut_tinygrad.pkl").unlink()
+  assert not model_manager.selected_chestnut_artifacts_ready(FakeParams())
+
+
 def test_runtime_model_metadata_does_not_overwrite_model_profiles(tmp_path, monkeypatch):
   monkeypatch.setattr(model_manager, "MODELS_PATH", tmp_path)
   (tmp_path / model_manager.ARTIFACT_METADATA_CACHE).write_text(json.dumps({
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 648350c3ae..4b65d33023 100644
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -39,6 +39,7 @@ from openpilot.system.hardware.chestnut.status import ChestnutStatus
 from openpilot.system.version import terms_version, training_version
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
+from openpilot.starpilot.assets.model_manager import selected_chestnut_artifacts_ready
 from openpilot.starpilot.common.starpilot_variables import get_starpilot_toggles
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -434,6 +435,9 @@ def hardware_thread(end_event, hw_queue) -> None:
       )
       chestnut_state = sm["chestnutState"]
       chestnut_valid = sm.alive["chestnutState"] and sm.valid["chestnutState"]
+      compiled = params.get_bool("UsbGpuCompiled")
+      if started_ts is None:
+        compiled = selected_chestnut_artifacts_ready(params)
       chestnut_status.update(
         started_ts is None,
         chestnut_expected,
@@ -441,7 +445,7 @@ def hardware_thread(end_event, hw_queue) -> None:
         chestnut.failed,
         params.get_bool("UsbGpuLoading"),
         params.get("UsbGpuActive"),
-        params.get_bool("UsbGpuCompiled"),
+        compiled,
         chestnut_state if chestnut_valid else None,
         set_offroad_alert_if_changed,
       )