fix big model alert (#38500)

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -167,7 +167,8 @@ class SelfdriveD:
 
     big_active = self.params.get("UsbGpuActive")
     usbgpu_present = self.sm['deviceState'].chestnutPresent
-    big_failed = big_active is False or (self.big_model_active and not usbgpu_present)
+    model_unavailable = big_active is True and self.sm.seen['modelV2'] and not self.sm.alive['modelV2']
+    big_failed = big_active is False or model_unavailable or (self.big_model_active and not usbgpu_present)
     if big_failed and not self.big_model_failed:
       self.events.add(EventName.bigModelFailed)
     self.big_model_failed = big_failed
@@ -175,9 +176,7 @@ class SelfdriveD:
     # soft disable if the big model fails
     if big_active:
       self.big_model_active = True
-    if self.enabled and self.big_model_active and (not big_active or not usbgpu_present):
-      self.events.add(EventName.modeldLagging)
-    if not self.enabled:
+    if not self.enabled and not model_unavailable:
       self.big_model_active = False
 
     if self.sm.recv_frame['lateralManeuverPlan'] > 0:
@@ -343,6 +342,9 @@ class SelfdriveD:
     # All events here should at least have NO_ENTRY and SOFT_DISABLE.
     num_events = len(self.events)
 
+    if self.big_model_active and big_failed:
+      self.events.add(EventName.modeldLagging)
+
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
     if self.sm.recv_frame['managerState'] and len(not_running):
       if not_running != self.not_running_prev:

openpilot/selfdrive/ui/mici/onroad/hud_renderer.py

@@ -196,6 +196,8 @@ class HudRenderer(Widget):
       return
 
     big_failed = (ui_state.usbgpu_active is False or not ui_state.sm['deviceState'].chestnutPresent or
+                  (ui_state.usbgpu_active is True and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame and
+                   not ui_state.sm.alive['modelV2']) or
                   (ui_state.usbgpu_active is None and ui_state.sm.recv_frame['modelV2'] > ui_state.started_frame))
     self._small_model_engaged &= big_failed
     if ui_state.usbgpu_loading or (ui_state.usbgpu_active is None and not big_failed):