Model switcher

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

common/params.cc

@@ -263,6 +263,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LongPitch", PERSISTENT},
     {"LowerVolt", PERSISTENT},
     {"MapTargetVelocities", PERSISTENT},
+    {"Model", PERSISTENT},
+    {"ModelList", PERSISTENT},
     {"ModelUI", PERSISTENT},
     {"MTSCAggressiveness", PERSISTENT},
     {"MTSCEnabled", PERSISTENT},

release/files_common

@@ -560,3 +560,4 @@ tinygrad_repo/tinygrad/*.py
 selfdrive/frogpilot/functions/conditional_experimental_mode.py
 selfdrive/frogpilot/functions/frogpilot_planner.py
 selfdrive/frogpilot/functions/map_turn_speed_controller.py
+selfdrive/frogpilot/functions/model_switcher.py

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)

selfdrive/frogpilot/ui/control_settings.cc

@@ -31,6 +31,7 @@ FrogPilotControlsPanel::FrogPilotControlsPanel(SettingsWindow *parent) : FrogPil
     {"AggressiveAcceleration", "Aggressive Acceleration With Lead", "Increase acceleration aggressiveness when following a lead vehicle from a stop.", ""},
     {"StoppingDistance", "Increased Stopping Distance", "Increase the stopping distance for a more comfortable stop.", ""},
 
+    {"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"},
   };
 
@@ -176,6 +177,28 @@ 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 = {"New Delhi (Default)", "Blue Diamond V1", "Blue Diamond V2", "Farmville", "New Lemon Pie"};
+      QObject::connect(modelSelectorButton, &FrogPilotButtonIconControl::clicked, this, [this, models]() {
+        int currentModel = params.getInt("Model");
+        QString currentModelLabel = models[currentModel];
+
+        QString selection = MultiOptionDialog::getSelection(tr("Select a driving model"), models, currentModelLabel, this);
+        if (!selection.isEmpty()) {
+          int selectedModel = models.indexOf(selection);
+          params.putInt("Model", selectedModel);
+          params.remove("CalibrationParams");
+          params.remove("LiveTorqueParameters");
+          modelSelectorButton->setValue(selection);
+          if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
+            Hardware::reboot();
+          }
+        }
+      });
+      modelSelectorButton->setValue(models[params.getInt("Model")]);
+      addItem(modelSelectorButton);
+
     } else {
       toggle = new ParamControl(param, title, desc, icon, this);
     }
@@ -262,6 +285,7 @@ void FrogPilotControlsPanel::parentToggleClicked() {
   aggressiveProfile->setVisible(false);
   conditionalSpeedsImperial->setVisible(false);
   conditionalSpeedsMetric->setVisible(false);
+  modelSelectorButton->setVisible(false);
   standardProfile->setVisible(false);
   relaxedProfile->setVisible(false);
 
@@ -272,6 +296,7 @@ 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

@@ -22,6 +22,8 @@ private:
   void updateMetric();
   void updateToggles();
 
+  FrogPilotButtonIconControl *modelSelectorButton;
+
   FrogPilotDualParamControl *aggressiveProfile;
   FrogPilotDualParamControl *conditionalSpeedsImperial;
   FrogPilotDualParamControl *conditionalSpeedsMetric;

selfdrive/manager/manager.py

@@ -199,6 +199,9 @@ def main() -> None:
   if os.path.exists("/data/openpilot/prebuilt"):
     os.remove("/data/openpilot/prebuilt")
 
+  # Set the desired model on boot
+  subprocess.run(["python3", "/data/openpilot/selfdrive/frogpilot/functions/model_switcher.py"])
+
   # Start UI early so prepare can happen in the background
   if not prepare_only:
     managed_processes['ui'].start()

selfdrive/thermald/thermald.py

@@ -463,7 +463,8 @@ def thermald_thread(end_event, hw_queue) -> None:
 
     # Create the prebuilt file if it doesn't exist
     if not os.path.isfile('/data/openpilot/prebuilt'):
-      os.system(f"touch {'/data/openpilot/prebuilt'}")
+      if os.path.exists("/data/openpilot/selfdrive/modeld/models/supercombo.thneed"):
+        os.system(f"touch {'/data/openpilot/prebuilt'}")
 
 def main():
   hw_queue = queue.Queue(maxsize=1)

selfdrive/ui/qt/home.cc

@@ -217,6 +217,17 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
       font-size: 55px;
     }
   )");
+
+  // Set the model name
+  std::map<int, QString> MODEL_NAME {
+    {0, "New Delhi"},
+    {1, "Blue Diamond V1"},
+    {2, "Blue Diamond V2"},
+    {3, "Farmville"},
+    {4, "New Lemon Pie"},
+  };
+
+  modelName = MODEL_NAME[params.getInt("Model")];
 }
 
 void OffroadHome::showEvent(QShowEvent *event) {
@@ -230,7 +241,7 @@ void OffroadHome::hideEvent(QHideEvent *event) {
 
 void OffroadHome::refresh() {
   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() + " - " + modelName);
 
   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
+  QString modelName;
 };
 
 class HomeWindow : public QWidget {