Adjust modeld execution logic based on active model runner

Introduced a check to conditionally execute `modeld` based on the active model runner. Added support for distinguishing between SNPE and TinyGrad runners using new helper functions and updated `custom.capnp` definitions. This change optimizes process management by ensuring compatibility with the selected model runner.

cereal/custom.capnp

@@ -64,6 +64,11 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     progress @1 :Float32;
     eta @2 :UInt32;
   }
+  
+  enum Runner {
+    snpe @0;
+    tinygrad @1;
+  }
 
   struct ModelBundle {
     index @0 :UInt32;

sunnypilot/models/helpers.py

@@ -30,3 +30,21 @@ def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
     return messaging.log_from_bytes(active_bundle, custom.ModelManagerSP.ModelBundle)
 
   return None
+
+def get_model_runner_by_filename(filename: str) -> custom.ModelManagerSP.Runner:
+  if filename.endswith(".thneed"):
+    return custom.ModelManagerSP.Runner.snpe
+  
+  if filename.endswith("_tinygrad.pkl"):
+    return custom.ModelManagerSP.Runner.tinygrad
+
+def get_active_model_runner(params: Params) -> custom.ModelManagerSP.Runner:
+  """Gets the model runner from the active model bundle. If no active bundle, returns tinygrad"""
+  if params is None:
+    params = Params()
+
+  if active_bundle := get_active_bundle(params):
+    drive_model = next(model for model in active_bundle.models if model.type == custom.ModelManagerSP.Type.drive)
+    return get_model_runner_by_filename(drive_model.fileName)
+    
+  return custom.ModelManagerSP.Runner.tinygrad

system/manager/process_config.py

@@ -1,10 +1,12 @@
 import os
 import operator
 
-from cereal import car
+from cereal import car, custom
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
+
+from sunnypilot.models.helpers import get_active_model_runner
 from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -70,6 +72,11 @@ def use_sunnylink_uploader_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for use_sunnylink_uploader to match the process manager signature."""
   return use_sunnylink_uploader(params)
 
+def is_snpe_model(started, params, CP: car.CarParams) -> bool:
+  """Check if the active model runner is SNPE."""
+  # TODO-SP: I want to do a little more optimization here to only check this once when we've transitioned from offroad to onroad.
+  return get_active_model_runner(params) == custom.ModelManagerSP.Runner.snpe
+
 def or_(*fns):
   return lambda *args: operator.or_(*(fn(*args) for fn in fns))
 
@@ -92,7 +99,7 @@ procs = [
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   # TODO Make python process once TG allows opening QCOM from child proc
-  #NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
+  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], and_(only_onroad, not is_snpe_model)),
   NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
@@ -134,7 +141,7 @@ procs = [
 # sunnypilot
 procs += [
   PythonProcess("models_manager", "sunnypilot.models.manager", only_offroad),
-  NativeProcess("modeld", "sunnypilot/modeld", ["./modeld"], only_onroad),
+  NativeProcess("modeld", "sunnypilot/modeld", ["./modeld"], and_(only_onroad, is_snpe_model)),
 ]
 
 if os.path.exists("./github_runner.sh"):