show an offroad alert to switch to a chestnut branch (#38636)

* show an offroad alert to switch to a chestnut branch

* add to keys

openpilot/common/params_keys.h

@@ -91,6 +91,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"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_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},

openpilot/selfdrive/selfdrived/alerts_offroad.json

@@ -17,6 +17,10 @@
     "severity": 1,
     "_comment": "Set extra field to the failed reason."
   },
+  "Offroad_ChestnutBranch": {
+    "text": "Chestnut detected! Switch to the release-chestnut branch to use chestnut-class models.",
+    "severity": 0
+  },
   "Offroad_UnregisteredHardware": {
     "text": "Failed to register with comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
     "severity": 1

openpilot/system/hardware/hardwared.py

@@ -237,6 +237,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
   fan_controller = FanController(int(1./DT_HW))
   chestnut = Chestnut()
+  big_model_available = os.path.isfile(os.path.join(BASEDIR, "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"))
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
@@ -298,6 +299,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     set_usb_state(msg.deviceState, last_hw_state.usb_state)
     chestnut.update(started_ts is None, last_hw_state.usb_state)
+    set_offroad_alert_if_changed("Offroad_ChestnutBranch", msg.deviceState.chestnutPresent and not big_model_available)
 
     # this subset is only used for offroad
     temp_sources = [