non finite

openpilot/sunnypilot/modeld_v2/modeld.py

@@ -59,12 +59,15 @@ def _pkl_exists(path):
 def _find_driving_pkl(bundle):
   if (override := os.environ.get('COMBINED_MODEL_PKL')) and _pkl_exists(override):
     return override
-  if bundle and bundle.models:
-    from openpilot.common.hardware.hw import Paths
-    for model in bundle.models:
-      if pkl_name := bundle.models[0].artifact.fileName:
-        if _pkl_exists(path := os.path.join(Paths.model_root(), pkl_name)):
-          return path
+  if bundle is None or not bundle.models:
+    return None
+  from openpilot.common.hardware.hw import Paths
+  model_root = Paths.model_root()
+
+  pkl_name = bundle.models[0].artifact.fileName
+  pkl_path = os.path.join(model_root, pkl_name)
+  if _pkl_exists(pkl_path):
+    return pkl_path
   return None
 
 
@@ -285,8 +288,7 @@ class ModelState(ModelStateBase):
       buf[0, -1, :] = outputs['desired_curvature'][0, :] if not self.mlsim else 0
 
     if self.chestnut and not np.all(np.isfinite(outputs.get('plan', np.array([0.])))):
-      cloudlog.error("model output not finite, dropping frame")
-      return None
+      raise RuntimeError("model output not finite")
 
     return outputs