chestnut: fix offroad alert (#39056)

chestnut: fix offroad alert

(cherry picked from commit 948ad05c6ceb7eed4cd18eb75f048ddd3230e3c1)

openpilot/selfdrive/selfdrived/alerts_offroad.json

@@ -26,7 +26,7 @@
     "severity": 0
   },
   "Offroad_ChestnutNotDetected": {
-    "text": "Chestnut not detected. Check USB and 12V connections.",
+    "text": "Chestnut not detected. Check USB and 12V connections, then restart the car.",
     "severity": 0
   },
   "Offroad_ChestnutOverheated": {

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -172,6 +172,7 @@ class SelfdriveD:
     big_failed = big_active is False or model_unavailable or (self.big_model_active and not chestnut_present)
     if big_failed and not self.big_model_failed:
       self.events.add(EventName.bigModelFailed)
+      self.big_model_ready_t = time.monotonic()
     self.big_model_failed = big_failed
 
     # soft disable if the big model fails
@@ -453,7 +454,7 @@ class SelfdriveD:
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
-      if self.sm['modelV2'].frameDropPerc > 1:
+      if self.sm['modelV2'].frameDropPerc > 1 and not big_model_settling:
         self.events.add(EventName.modeldLagging)
 
     # Decrement personality on distance button press

openpilot/selfdrive/ui/ui_state.py

@@ -14,6 +14,7 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.common.hardware import HARDWARE, PC
 from openpilot.common.hardware.usb import cable_connected, get_usb_state, is_chestnut_usb_id
 from openpilot.selfdrive.modeld.helpers import chestnut_compiled
+from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
 PARAM_UPDATE_TIME = 1 / 5.0
@@ -90,6 +91,7 @@ class UIState:
     self.chestnut_compiled: bool = chestnut_compiled()
     self.chestnut_active: bool | None = None
     self.chestnut_loading: bool = False
+    self.chestnut_alert: bool = False
     self.usb_connected: bool = False
     self.usb_connected_ts: float | None = None
     self.usb_disconnected_ts: float | None = None
@@ -212,7 +214,8 @@ class UIState:
     detected = self.sm["deviceState"].chestnutPresent
     if not self.started:
       self.chestnut_present = detected
-      self.chestnut_state = (ChestnutState.READY if detected and self.chestnut_compiled else
+      self.chestnut_state = (ChestnutState.FAILED if self.chestnut_alert else
+                             ChestnutState.READY if detected and self.chestnut_compiled else
                              ChestnutState.UNCOMPILED if detected else ChestnutState.DISCONNECTED)
       return
 
@@ -247,6 +250,7 @@ class UIState:
     self.experimental_mode = self.params.get_bool("ExperimentalMode")
     self.chestnut_active = self.params.get("ChestnutActive")
     self.chestnut_loading = self.params.get_bool("ChestnutLoading")
+    self.chestnut_alert = any(self.params.get(k) is not None for k, a in OFFROAD_ALERTS.items() if k.startswith("Offroad_Chestnut") and a["severity"] >= 0)
     now = time.monotonic()
     if cable_connected():
       self.usb_disconnected_ts = None

openpilot/system/hardware/chestnut/status.py

@@ -53,6 +53,8 @@ class ChestnutStatus:
 
     if not offroad and self.usb_seen and len(devices) != 1:
       self.usb_failed = True
+    if offroad and len(devices) == 1:
+      self.usb_failed = False
 
     if not offroad and state is not None:
       powered = state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE
@@ -74,6 +76,7 @@ class ChestnutStatus:
       self.power_unavailable = False
       self.power_lost = False
       self.power_restored = False
+      self.model_failed = False
 
     if state is not None:
       gpu_limit = GPU_TEMP_LIMIT - (TEMP_HYSTERESIS if self.overheated else 0.)