mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-30 11:23:49 +08:00
Jason Wen
65853f0111
Move the exact_match calculation after updating model_path and max_similarity to ensure consistency. This prevents potential discrepancies when rechecking NN paths and enhances code maintainability.
69 lines
2.4 KiB
Python
69 lines
2.4 KiB
Python
"""
|
|
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
|
|
|
This file is part of sunnypilot and is licensed under the MIT License.
|
|
See the LICENSE.md file in the root directory for more details.
|
|
"""
|
|
import os
|
|
import tomllib
|
|
from difflib import SequenceMatcher
|
|
|
|
from opendbc.car import structs
|
|
from openpilot.common.basedir import BASEDIR
|
|
|
|
TORQUE_NN_MODEL_PATH = os.path.join(BASEDIR, "sunnypilot", "neural_network_data", "neural_network_lateral_control")
|
|
TORQUE_NN_MODEL_SUBSTITUTE_PATH = os.path.join(BASEDIR, "opendbc", "car", "torque_data/substitute.toml")
|
|
MOCK_MODEL_PATH = os.path.join(TORQUE_NN_MODEL_PATH, "MOCK.json")
|
|
|
|
|
|
def similarity(s1: str, s2: str) -> float:
|
|
return SequenceMatcher(None, s1, s2).ratio()
|
|
|
|
|
|
def get_nn_model_path(CP: structs.CarParams) -> tuple[str, str, bool]:
|
|
car_fingerprint = CP.carFingerprint
|
|
eps_fw = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), ""))
|
|
|
|
def check_nn_path(_nn_candidate):
|
|
_model_path = None
|
|
_max_similarity = -1.0
|
|
for f in os.listdir(TORQUE_NN_MODEL_PATH):
|
|
if f.endswith(".json"):
|
|
model = os.path.splitext(f)[0]
|
|
similarity_score = similarity(model, _nn_candidate)
|
|
if similarity_score > _max_similarity:
|
|
_max_similarity = similarity_score
|
|
_model_path = os.path.join(TORQUE_NN_MODEL_PATH, f)
|
|
return _model_path, _max_similarity
|
|
|
|
if len(eps_fw) > 3:
|
|
eps_fw = eps_fw.replace("\\", "")
|
|
nn_candidate = f"{car_fingerprint} {eps_fw}"
|
|
else:
|
|
nn_candidate = car_fingerprint
|
|
|
|
model_path, max_similarity = check_nn_path(nn_candidate)
|
|
exact_match = max_similarity >= 0.99
|
|
|
|
if car_fingerprint not in model_path or 0.0 <= max_similarity < 0.9:
|
|
nn_candidate = car_fingerprint
|
|
model_path, max_similarity = check_nn_path(nn_candidate)
|
|
exact_match = max_similarity >= 0.99
|
|
|
|
if 0.0 <= max_similarity < 0.9:
|
|
with open(TORQUE_NN_MODEL_SUBSTITUTE_PATH, 'rb') as f:
|
|
sub = tomllib.load(f)
|
|
sub_candidate = sub.get(car_fingerprint, car_fingerprint)
|
|
|
|
for candidate in [car_fingerprint, sub_candidate]:
|
|
model_path, max_similarity = check_nn_path(candidate)
|
|
|
|
exact_match = False
|
|
|
|
if CP.steerControlType == structs.CarParams.SteerControlType.angle:
|
|
model_path = MOCK_MODEL_PATH
|
|
|
|
model_name = os.path.splitext(os.path.basename(model_path))[0]
|
|
|
|
return model_path, model_name, exact_match
|