Merge branch 'master' into models-egpu-icon-states

openpilot/common/params_keys.h

@@ -196,6 +196,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     // Model Manager params
     {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
     {"ModelManager_ActiveJson", {CLEAR_ON_MANAGER_START, STRING}},
+    {"ModelManager_PrevBundle", {PERSISTENT, JSON}},
+    {"ModelManager_PrevBundle_USBGPU", {PERSISTENT, JSON}},
     {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
     {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT}},
     {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},

openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py

@@ -115,8 +115,12 @@ class ModelsLayout(Widget):
   def calculate_cache_size():
     cache_size = 0.0
     if os.path.exists(CUSTOM_MODEL_PATH):
-      cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
-    return cache_size
+      for file in os.listdir(CUSTOM_MODEL_PATH):
+        try:
+          cache_size += os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file))
+        except OSError:
+          continue
+    return cache_size / (1024**2)
 
   def _clear_cache(self):
     def _callback(response):

openpilot/sunnypilot/models/helpers.py

@@ -23,7 +23,6 @@ REQUIRED_JSON_VERSION = 18
 CUSTOM_MODEL_PATH = Paths.model_root()
 METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
 ModelManager = custom.ModelManagerSP
-_LAST_VALIDATED_RAW = None
 
 
 def _compute_hash(file_path: str) -> str | None:
@@ -86,11 +85,11 @@ def _bundle_needs_reset(active_bundle: custom.ModelManagerSP.ModelBundle, availa
   if available_bundles is not None:
     matching_bundle = None
     for bundle in available_bundles:
-      if getattr(active_bundle, 'ref', None) and getattr(bundle, 'ref', None):
+      if active_bundle.ref and bundle.ref:
         if active_bundle.ref == bundle.ref:
           matching_bundle = bundle
           break
-      elif getattr(active_bundle, 'internalName', None) == getattr(bundle, 'internalName', None):
+      elif active_bundle.internalName == bundle.internalName:
         matching_bundle = bundle
         break
 
@@ -98,36 +97,42 @@ def _bundle_needs_reset(active_bundle: custom.ModelManagerSP.ModelBundle, availa
       return True
     if active_bundle.minimumSelectorVersion != matching_bundle.minimumSelectorVersion:
       return True
-
-    active_runner = getattr(active_bundle, 'runner', None)
-    matching_runner = getattr(matching_bundle, 'runner', None)
-    if active_runner is not None and matching_runner is not None:
-      if getattr(active_runner, 'raw', active_runner) != getattr(matching_runner, 'raw', matching_runner):
-        return True
+    if active_bundle.runner.raw != matching_bundle.runner.raw:
+      return True
     if set(_bundle_artifacts(active_bundle)) != set(_bundle_artifacts(matching_bundle)):
       return True
 
-  return not _bundle_is_valid_locally(active_bundle)
+  # missing files trigger re-download, not selection reset
+  return False
 
 
-def validate_active_bundle(params: Params, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None = None) -> None:
-  global _LAST_VALIDATED_RAW
+def _prev_bundle_key(is_usbgpu: bool) -> str:
+  return "ModelManager_PrevBundle_USBGPU" if is_usbgpu else "ModelManager_PrevBundle"
 
+
+def validate_active_bundle(params: Params, available_bundles: list[custom.ModelManagerSP.ModelBundle] | None = None,
+                           is_usbgpu: bool = False) -> None:
   raw_bundle = params.get("ModelManager_ActiveBundle")
   if not raw_bundle:
-    return
-
-  if raw_bundle == _LAST_VALIDATED_RAW:
+    prev = params.get(_prev_bundle_key(is_usbgpu))
+    if prev and (prev_bundle := get_active_bundle(params, raw_bundle_dict=prev)) is not None:
+      if not _bundle_needs_reset(prev_bundle, available_bundles):
+        params.put("ModelManager_ActiveBundle", prev, block=True)
     return
 
   active_bundle = get_active_bundle(params, raw_bundle_dict=raw_bundle)
   if active_bundle is None or _bundle_needs_reset(active_bundle, available_bundles):
     cloudlog.warning("Active model bundle invalid; resetting to default")
+    params.put(_prev_bundle_key(not is_usbgpu), raw_bundle, block=True)
+
+    prev = params.get(_prev_bundle_key(is_usbgpu))
+    if prev and (prev_bundle := get_active_bundle(params, raw_bundle_dict=prev)) is not None:
+      if not _bundle_needs_reset(prev_bundle, available_bundles):
+        params.put("ModelManager_ActiveBundle", prev, block=True)
+        return
+
     params.remove("ModelManager_ActiveBundle")
     params.put("ModelRunnerTypeCache", int(custom.ModelManagerSP.Runner.stock), block=True)
-    _LAST_VALIDATED_RAW = None
-  else:
-    _LAST_VALIDATED_RAW = raw_bundle
 
 
 def get_active_bundle(params: Params | None = None, raw_bundle_dict: dict | bytes | None = None) -> "custom.ModelManagerSP.ModelBundle | None":

openpilot/sunnypilot/models/manager.py

@@ -257,15 +257,21 @@ class ModelManagerSP:
     """Main entry point for downloading a model bundle"""
     asyncio.run(self._download_bundle(model_bundle, destination_path))
 
+  BOOT_SETTLE_TICKS = 10  # seconds at 1 Hz before validating active bundle
+
   def main_thread(self) -> None:
     """Main thread for model management"""
     rk = Ratekeeper(1, print_delay_threshold=None)
+    boot_ticks = 0
 
     while True:
       try:
         self.sm.update(0)
-        self.available_models = self.model_fetcher.get_available_bundles(self.sm['deviceState'].chestnutPresent)
-        validate_active_bundle(self.params, self.available_models)
+        chestnut_present = self.sm['deviceState'].chestnutPresent
+        self.available_models = self.model_fetcher.get_available_bundles(chestnut_present)
+        if boot_ticks >= self.BOOT_SETTLE_TICKS:
+          validate_active_bundle(self.params, self.available_models, is_usbgpu=chestnut_present)
+        boot_ticks = min(boot_ticks + 1, self.BOOT_SETTLE_TICKS)
         self.active_bundle = get_active_bundle(self.params)
 
         if (index_to_download := self.params.get("ModelManager_DownloadIndex")) is not None: