models: use less strict chestnut detection state (#1948)

openpilot/sunnypilot/models/fetcher.py

@@ -13,8 +13,6 @@ from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware.hw import Paths
 from openpilot.sunnypilot.models.helpers import is_bundle_version_compatible
-from openpilot.selfdrive.modeld.helpers import usbgpu_present
-
 from openpilot.cereal import custom
 
 
@@ -149,11 +147,10 @@ class ModelFetcher:
     self._is_usbgpu: bool | None = None
     self.model_cache = ModelCache(params)
     self.model_url = self.MODEL_URL
-    self._update_model_source()
 
-  def _update_model_source(self) -> None:
-    """Updates what json to use based on usbgpu availability"""
-    is_usbgpu = usbgpu_present()
+  def _update_model_source(self, chestnut_present: bool) -> None:
+    """Updates what json to use based on chestnut hardware presence via deviceState"""
+    is_usbgpu = chestnut_present
     if is_usbgpu != self._is_usbgpu:
       self._is_usbgpu = is_usbgpu
       self.model_cache = ModelCache(self.params, suffix="_USBGPU" if is_usbgpu else "")
@@ -191,9 +188,9 @@ class ModelFetcher:
 
     return None
 
-  def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
+  def get_available_bundles(self, chestnut_present: bool = False) -> list[custom.ModelManagerSP.ModelBundle]:
     """Gets the list of available models, with smart cache handling"""
-    self._update_model_source()
+    self._update_model_source(chestnut_present)
     cached_data, is_expired = self.model_cache.get()
 
     if cached_data and not is_expired:
@@ -210,10 +207,12 @@ class ModelFetcher:
     cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback")
     return self.model_parser.parse_models(cached_data)
 
+
 if __name__ == "__main__":
+  from openpilot.selfdrive.modeld.helpers import usbgpu_present
   params = Params()
   model_fetcher = ModelFetcher(params)
-  bundles = model_fetcher.get_available_bundles()
+  bundles = model_fetcher.get_available_bundles(chestnut_present=usbgpu_present())
   for bundle in bundles:
     for model in bundle.models:
       model_overrides = {override.key: override.value for override in bundle.overrides}

openpilot/sunnypilot/models/manager.py

@@ -30,6 +30,7 @@ class ModelManagerSP:
     self.params = Params()
     self.model_fetcher = ModelFetcher(self.params)
     self.pm = messaging.PubMaster(["modelManagerSP"])
+    self.sm = messaging.SubMaster(["deviceState"])
     self.available_models: list[custom.ModelManagerSP.ModelBundle] = []
     self.selected_bundle: custom.ModelManagerSP.ModelBundle = None
     self.active_bundle: custom.ModelManagerSP.ModelBundle = get_active_bundle(self.params)
@@ -262,7 +263,8 @@ class ModelManagerSP:
 
     while True:
       try:
-        self.available_models = self.model_fetcher.get_available_bundles()
+        self.sm.update(0)
+        self.available_models = self.model_fetcher.get_available_bundles(self.sm['deviceState'].chestnutPresent)
         validate_active_bundle(self.params, self.available_models)
         self.active_bundle = get_active_bundle(self.params)
 

openpilot/sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -28,7 +28,6 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
                        create_connection, WebSocketConnectionClosedException)
 
 import openpilot.cereal.messaging as messaging
-from openpilot.selfdrive.modeld.helpers import usbgpu_present
 from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL, DEFAULT_BIG_MODEL
 from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
@@ -182,10 +181,8 @@ def getParamsMetadata() -> str:
     schema = generate_schema()
     schema["capabilities"] = generate_capabilities()
     schema["capability_labels"] = CAPABILITY_LABELS
-    # mirrors get_default_model() — ui_state unavailable in sunnylinkd process
-    show_big = (usbgpu_present()
-                and (params.get_bool("UsbGpuActive") or params.get_bool("UsbGpuLoading") or params.get_bool("IsOffroad")))
-    schema["default_model"] = DEFAULT_BIG_MODEL if show_big else DEFAULT_MODEL
+    schema["default_model"] = DEFAULT_MODEL
+    schema["default_big_model"] = DEFAULT_BIG_MODEL
     schema["usbgpu_active"] = params.get_bool("UsbGpuActive")
     raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
     return base64.b64encode(gzip.compress(raw)).decode("utf-8")