Model switcher

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

selfdrive/frogpilot/functions/model_switcher.py

@@ -0,0 +1,63 @@
+import hashlib
+import os
+import shutil
+from openpilot.common.params import Params
+from openpilot.system.hardware import HARDWARE
+
+OPENPILOT_PATH = "/data/openpilot"
+DESTINATION_PATH = os.path.join(OPENPILOT_PATH, "selfdrive/modeld/models")
+MODELS_SOURCE = os.path.join(DESTINATION_PATH, "models")
+THNEED_FILE = os.path.join(DESTINATION_PATH, "supercombo.thneed")
+
+MODEL_NAME = {
+  0: "new-delhi",
+  1: "blue-diamond-v1",
+  2: "blue-diamond-v2",
+  3: "farmville",
+  4: "new-lemon-pie",
+}
+
+def set_model_list_parameter(params):
+  """Create a string of all the model names for future comparisons."""
+  # Retrieve the previous model list
+  previous_model_list = params.get("ModelList", encoding='utf-8')
+
+  # Create a new model list
+  model_list = "".join(MODEL_NAME.values())
+
+  if previous_model_list != model_list:
+    # Reset the selected model if the model list changed
+    params.put_int("Model", 0)
+    params.put("ModelList", model_list)
+    params.remove("CalibrationParams");
+    params.remove("LiveTorqueParameters");
+
+def onnx_already_set(path1, path2):
+  """Check if the two files are identical by comparing their SHA-256 hashes."""
+  with open(path1, 'rb') as f1, open(path2, 'rb') as f2:
+    return hashlib.sha256(f1.read()).hexdigest() == hashlib.sha256(f2.read()).hexdigest()
+
+def copy_model_variant(params):
+  # Get the corresponding supercombo variant name
+  variant = MODEL_NAME.get(params.get_int("Model"), MODEL_NAME[0])
+
+  # Copy the variant .onnx file to supercombo.onnx in the destination models folder
+  onnx_path = os.path.join(MODELS_SOURCE, f"{variant}.onnx")
+  destination = os.path.join(DESTINATION_PATH, "supercombo.onnx")
+
+  if not onnx_already_set(onnx_path, destination):
+    # Delete the thneed file
+    if os.path.exists(THNEED_FILE):
+      os.remove(THNEED_FILE)
+
+    # Copy over the onnx file
+    shutil.copy(onnx_path, destination)
+
+    # Reboot
+    HARDWARE.reboot()
+
+if __name__ == "__main__":
+  params = Params()
+
+  set_model_list_parameter(params)
+  copy_model_variant(params)