chestnut: offroad alert for model error (#39018)

chestnut: offroad alert for big model errors

openpilot/common/params_keys.h

@@ -93,6 +93,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_ChestnutBranch", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ChestnutModelError", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ChestnutNotDetected", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_ChestnutOverheated", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ChestnutPcieUnavailable", {CLEAR_ON_MANAGER_START, JSON}},

openpilot/selfdrive/selfdrived/alerts_offroad.json

@@ -21,6 +21,10 @@
     "text": "Chestnut detected! Switch to the release-chestnut branch to use chestnut-class models.",
     "severity": -1
   },
+  "Offroad_ChestnutModelError": {
+    "text": "Chestnut model error. Restart the car to retry.",
+    "severity": 0
+  },
   "Offroad_ChestnutNotDetected": {
     "text": "Chestnut not detected. Check USB and 12V connections.",
     "severity": 0

openpilot/system/hardware/chestnut/status.py

@@ -23,6 +23,7 @@ class ChestnutStatus:
     self.link_failures = 0
     self.model_loading_seen = False
     self.model_attempted = False
+    self.model_failed = False
     self.overheated = False
     self.usb_seen = False
     self.usb_failed = False
@@ -42,11 +43,13 @@ class ChestnutStatus:
       self.link_failures = 0
       self.model_loading_seen = False
       self.model_attempted = False
+      self.model_failed = False
       self.usb_seen = firmware_ok
       self.usb_failed = False
 
     self.model_loading_seen |= model_loading
     self.model_attempted |= self.model_loading_seen and not model_loading and model_active is not None
+    self.model_failed |= not offroad and self.model_attempted and model_active is False
 
     if not offroad and self.usb_seen and not firmware_ok:
       self.usb_failed = True
@@ -91,6 +94,7 @@ class ChestnutStatus:
     else:
       pcie_alert = "Chestnut GPU unavailable. PCIe link is not up. Check the GPU is securely seated."
     set_alert("Offroad_ChestnutPcieUnavailable", self.pcie_failed, pcie_alert)
+    set_alert("Offroad_ChestnutModelError", self.model_failed and not (missing or self.pcie_failed))
     set_alert("Offroad_ChestnutUncompiled", offroad and firmware_ok and not chestnut_compiled())
     set_alert("Offroad_ChestnutUpdateFailed", offroad and firmware_failed)
     self.offroad = offroad