From e3def37695339d5d2f5e76e815ebb7570bcfdbd5 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Thu, 3 Sep 2026 09:45:51 -0700
Subject: [PATCH] revert 38742 (#38760)

---
 openpilot/common/params_keys.h        |  1 -
 openpilot/selfdrive/modeld/helpers.py |  6 ------
 openpilot/selfdrive/modeld/modeld.py  | 24 +++---------------------
 3 files changed, 3 insertions(+), 28 deletions(-)

diff --git a/openpilot/common/params_keys.h b/openpilot/common/params_keys.h
index 07a2283ece..ba6eae3dd5 100644
--- a/openpilot/common/params_keys.h
+++ b/openpilot/common/params_keys.h
@@ -135,6 +135,5 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"ChestnutActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"ChestnutLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"ChestnutModelError", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_IGNITION_ON, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 };
diff --git a/openpilot/selfdrive/modeld/helpers.py b/openpilot/selfdrive/modeld/helpers.py
index 23eb6cbd21..d081050055 100644
--- a/openpilot/selfdrive/modeld/helpers.py
+++ b/openpilot/selfdrive/modeld/helpers.py
@@ -11,8 +11,6 @@ from openpilot.common.hardware.usb import CHESTNUT_USB_PRODUCT, USB_DEVICES_PATH
 
 MODELS_DIR = Path(__file__).resolve().parent / 'models'
 TG_INPUT_DEVICES_PATH = MODELS_DIR / 'tg_input_devices.json'
-CHESTNUT_POWERED_VOLTAGE = 5000
-CHESTNUT_PCIE_READY = 0x78
 
 
 def get_tg_input_devices(process_name: str, chestnut: bool):
@@ -60,7 +58,3 @@ def chestnut_present() -> bool:
 
 def chestnut_compiled() -> bool:
   return Path(get_manifest_path(modeld_pkl_path(chestnut=True))).is_file()
-
-
-def chestnut_ready(state) -> bool:
-  return state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE and not state.supplyFault and state.pcieLtssm == CHESTNUT_PCIE_READY
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 040c6b980f..175c729782 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -33,7 +33,7 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_drivi
 from openpilot.common.file_chunker import open_file_chunked
 from openpilot.common.hardware.usb import CHESTNUT_USB_IDS
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.helpers import chestnut_present, chestnut_compiled, chestnut_ready, modeld_pkl_path, load_oob
+from openpilot.selfdrive.modeld.helpers import chestnut_present, chestnut_compiled, modeld_pkl_path, load_oob
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -237,25 +237,12 @@ class ModelState:
 def main(demo=False):
   cloudlog.warning("modeld init")
 
-  chestnut_available = chestnut_present() and chestnut_compiled()
-  CHESTNUT = False
-  if chestnut_available:
-    poller = messaging.Poller()
-    sock = messaging.sub_sock("chestnutState", poller=poller, conflate=True)
-    deadline = time.monotonic() + 4. / SERVICE_LIST['deviceState'].frequency
-    while not CHESTNUT and (remaining := deadline - time.monotonic()) > 0.:
-      if not poller.poll(round(remaining * 1000)):
-        break
-      msg = messaging.recv_one_or_none(sock)
-      CHESTNUT = msg is not None and msg.valid and chestnut_ready(msg.chestnutState)
+  CHESTNUT = chestnut_present() and chestnut_compiled()
   if CHESTNUT:
     os.environ['HCQDEV_WAIT_TIMEOUT_MS'] = '3000'
   params = Params()
   params.put_bool("ChestnutLoading", CHESTNUT)
-  if chestnut_available and not CHESTNUT:
-    params.put_bool("ChestnutActive", False)
-  else:
-    params.remove("ChestnutActive")
+  params.remove("ChestnutActive")
 
   config_realtime_process(7, 54)
 
@@ -299,11 +286,7 @@ def main(demo=False):
     loader.start()
     loader.join(BIG_MODEL_TIMEOUT)
     model = big_model
-    if model is None:
-      params.put_bool("ChestnutModelError", True)
     params.put_bool("ChestnutActive", model is not None)
-    if model is not None:
-      params.remove("ChestnutModelError")
 
   small_model = ModelState(vipc_client_main.width, vipc_client_main.height, False) if model is None or CHESTNUT else None
   if model is None:
@@ -434,7 +417,6 @@ def main(demo=False):
         raise
       # fallback to small model
       cloudlog.exception("big model failed, fall back to small")
-      params.put_bool("ChestnutModelError", True)
       params.put_bool("ChestnutActive", False)
       model = small_model
       if chestnut_state is not None: