Model switcher

Added model selector to swap between several different models on the fly.

common/params.cc

@@ -291,6 +291,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ManualUpdateInitiated", CLEAR_ON_MANAGER_START},
     {"MapTargetLatA", PERSISTENT},
     {"MapTargetVelocities", PERSISTENT},
+    {"Model", PERSISTENT},
     {"ModelUI", PERSISTENT},
     {"MTSCAggressiveness", PERSISTENT},
     {"MTSCCurvatureCheck", PERSISTENT},

selfdrive/frogpilot/functions/frogpilot_functions.py

@@ -7,6 +7,8 @@ from openpilot.system.hardware import HARDWARE
 
 params_memory = Params("/dev/shm/params")
 
+DEFAULT_MODEL = "los-angeles"
+
 CITY_SPEED_LIMIT = 25
 CRUISING_SPEED = 5  # Roughly the speed cars go when not touching the gas while in drive
 PROBABILITY = 0.6   # 60% chance of condition being true

selfdrive/frogpilot/ui/control_settings.cc

@@ -33,6 +33,8 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"AggressiveAcceleration", "Aggressive Acceleration With Lead", "Increase acceleration aggressiveness when following a lead vehicle from a stop.", ""},
     {"StoppingDistance", "Increase Stop Distance Behind Lead", "Increase the stopping distance for a more comfortable stop from lead vehicles.", ""},
 
+    {"Model", "Model Selector", "Choose your preferred openpilot model.", "../assets/offroad/icon_calibration.png"},
+
     {"MTSCEnabled", "Map Turn Speed Control", "Slow down for anticipated curves detected by your downloaded maps.", "../frogpilot/assets/toggle_icons/icon_speed_map.png"},
     {"DisableMTSCSmoothing", "Disable MTSC UI Smoothing", "Disables the smoothing for the requested speed in the onroad UI.", ""},
     {"MTSCCurvatureCheck", "Model Curvature Detection Failsafe", "Only trigger MTSC when the model detects a curve in the road. Purely used as a failsafe to prevent false positives. Leave this off if you never experience false positives.", ""},
@@ -219,6 +221,34 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     } else if (param == "StoppingDistance") {
       toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, std::map<int, QString>(), this, false, " feet");
 
+    } else if (param == "Model") {
+      modelSelectorButton = new FrogPilotButtonIconControl(title, tr("SELECT"), desc, icon);
+      QStringList models = {"los-angeles", "certified-herbalist", "duck-amigo", "recertified-herbalist"};
+      QStringList modelLabels = {"Los Angeles (Default)", "Certified Herbalist", "Duck Amigo", "Recertified Herbalist"};
+      QObject::connect(modelSelectorButton, &FrogPilotButtonIconControl::clicked, this, [this, models, modelLabels]() {
+        QString selection = MultiOptionDialog::getSelection(tr("Select a driving model"), modelLabels, "", this);
+
+        if (!selection.isEmpty()) {
+          int selectedModelIndex = modelLabels.indexOf(selection);
+          QString selectedModelValue = models[selectedModelIndex];
+          params.put("Model", selectedModelValue.toStdString());
+          modelSelectorButton->setValue(selection);
+          if (FrogPilotConfirmationDialog::yesorno("Do you want to start with a fresh calibration for the newly selected model?", this)) {
+            params.remove("CalibrationParams");
+            params.remove("LiveTorqueParameters");
+          }
+          if (started) {
+            if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
+              Hardware::soft_reboot();
+            }
+          }
+        }
+      });
+      int initialModelIndex = models.indexOf(QString::fromStdString(params.get("Model")));
+      QString initialModelLabel = modelLabels[initialModelIndex];
+      modelSelectorButton->setValue(initialModelLabel);
+      addItem(modelSelectorButton);
+
     } else if (param == "MTSCEnabled") {
       FrogPilotParamManageControl *mtscToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
       QObject::connect(mtscToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
@@ -356,6 +386,7 @@ void FrogPilotControlsPanel::parentToggleClicked() {
   aggressiveProfile->setVisible(false);
   conditionalSpeedsImperial->setVisible(false);
   conditionalSpeedsMetric->setVisible(false);
+  modelSelectorButton->setVisible(false);
   standardProfile->setVisible(false);
   relaxedProfile->setVisible(false);
 
@@ -370,6 +401,7 @@ void FrogPilotControlsPanel::hideSubToggles() {
   aggressiveProfile->setVisible(false);
   conditionalSpeedsImperial->setVisible(false);
   conditionalSpeedsMetric->setVisible(false);
+  modelSelectorButton->setVisible(true);
   standardProfile->setVisible(false);
   relaxedProfile->setVisible(false);
 

selfdrive/frogpilot/ui/control_settings.h

@@ -29,6 +29,8 @@ private:
   void updateState(const UIState &s);
   void updateToggles();
 
+  FrogPilotButtonIconControl *modelSelectorButton;
+
   FrogPilotDualParamControl *aggressiveProfile;
   FrogPilotDualParamControl *conditionalSpeedsImperial;
   FrogPilotDualParamControl *conditionalSpeedsMetric;

selfdrive/manager/manager.py

@@ -12,6 +12,7 @@ from typing import List, Tuple, Union
 from cereal import log
 import cereal.messaging as messaging
 import openpilot.selfdrive.sentry as sentry
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE, PC
@@ -24,6 +25,7 @@ from openpilot.system.version import is_dirty, get_commit, get_version, get_orig
                            get_normalized_origin, terms_version, training_version, \
                            is_tested_branch, is_release_branch, get_commit_date
 
+from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import DEFAULT_MODEL
 
 
 def manager_init() -> None:
@@ -62,6 +64,16 @@ def manager_init() -> None:
 
   #######################################################################
 
+  # Check if the currently selected model still exists
+  current_model = params.get("Model", encoding='utf-8')
+
+  if current_model != DEFAULT_MODEL:
+    models_folder = os.path.join(BASEDIR, 'selfdrive/modeld/models/models')
+    model_exists = current_model in [os.path.splitext(file)[0] for file in os.listdir(models_folder)]
+
+    if not model_exists:
+      params.remove("Model")
+
   default_params: List[Tuple[str, Union[str, bytes]]] = [
     ("CompletedTrainingVersion", "0"),
     ("DisengageOnAccelerator", "0"),

selfdrive/modeld/modeld.py

@@ -24,11 +24,15 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
+from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import DEFAULT_MODEL
+
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
+MODEL_NAME = Params().get("Model", encoding='utf-8')
+
 MODEL_PATHS = {
-  ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed',
+  ModelRunner.THNEED: Path(__file__).parent / ('models/supercombo.thneed' if MODEL_NAME == DEFAULT_MODEL else f'models/models/{MODEL_NAME}.thneed'),
   ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'}
 
 METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'

selfdrive/ui/qt/home.cc

@@ -217,6 +217,14 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
       font-size: 55px;
     }
   )");
+
+  // Set the model name
+  MODEL_NAME = {
+    {"los-angeles", "Los Angeles"},
+    {"certified-herbalist", "Certified Herbalist"},
+    {"duck-amigo", "Duck Amigo"},
+    {"recertified-herbalist", "Recertified Herbalist"},
+  };
 }
 
 void OffroadHome::showEvent(QShowEvent *event) {
@@ -229,8 +237,10 @@ void OffroadHome::hideEvent(QHideEvent *event) {
 }
 
 void OffroadHome::refresh() {
+  QString model = QString::fromStdString(params.get("Model"));
+
   date->setText(QLocale(uiState()->language.mid(5)).toString(QDateTime::currentDateTime(), "dddd, MMMM d"));
-  version->setText(getBrand() + " v" + getVersion().left(14).trimmed());
+  version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + MODEL_NAME[model]);
 
   bool updateAvailable = update_widget->refresh();
   int alerts = alerts_widget->refresh();

selfdrive/ui/qt/home.h

@@ -42,6 +42,7 @@ private:
   QPushButton* update_notif;
 
   // FrogPilot variables
+  std::map<QString, QString> MODEL_NAME;
 };
 
 class HomeWindow : public QWidget {