From e9d7279bf7fc42a99c8465df1f9db1bd84464005 Mon Sep 17 00:00:00 2001
From: Freeman Helmuth <freeman@pineview.biz>
Date: Fri, 9 May 2025 22:41:42 -0400
Subject: [PATCH] Use substitute.toml for fallback NNLC model & use 20-22
 Palisade/Telluride NNLC model for 2023-2024 Palisade (#509)

* Use 2020-2022 Palisade/Telluride model for 2023-2023 Palisade/Telluride

* Fix model name on HYUNDAI PALISADE 2020

* Update interfaces.py - use comma substitute.toml

* Update substitute.toml

* Update interfaces.py - fix indentation error

* Update substitute.toml
---
 selfdrive/car/interfaces.py               | 33 +++++++++++++++--------
 selfdrive/car/torque_data/substitute.toml |  1 +
 2 files changed, 23 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 0ef758cafe..d5a0b982c7 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -167,19 +167,30 @@ def get_nn_model_path(_car, eps_firmware) -> tuple[str | None, float]:
           _max_similarity = similarity_score
           _model_path = os.path.join(TORQUE_NN_MODEL_PATH, f)
     return _model_path, _max_similarity
-
-  if len(eps_firmware) > 3:
-    eps_firmware = eps_firmware.replace("\\", "")
-    check_model = f"{_car} {eps_firmware}"
-  else:
-    check_model = _car
-  model_path, max_similarity = check_nn_path(check_model)
-  if _car not in model_path or 0.0 <= max_similarity < 0.9:
-    check_model = _car
+  
+  def check_candidate(_car, eps_firmware):
+    if len(eps_firmware) > 3:
+      eps_firmware = eps_firmware.replace("\\", "")
+      check_model = f"{_car} {eps_firmware}"
+    else:
+      check_model = _car
     model_path, max_similarity = check_nn_path(check_model)
     if _car not in model_path or 0.0 <= max_similarity < 0.9:
-      model_path = None
-  return model_path, max_similarity
+      check_model = _car
+      model_path, max_similarity = check_nn_path(check_model)
+      if _car not in model_path or 0.0 <= max_similarity < 0.9:
+        model_path = None
+    return model_path, max_similarity
+  
+  with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f:
+    sub = tomllib.load(f)
+  sub_candidate = sub.get(_car, _car)
+  
+  for candidate in [_car, sub_candidate]:
+    model, similarity_score = check_candidate(candidate, eps_firmware)
+    if model is not None:
+      return model, similarity_score
+  return None, 0.0
 
 
 def get_nn_model(_car, eps_firmware) -> tuple[FluxModel | None, float]:
diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml
index f0787247bb..0d409d72f4 100644
--- a/selfdrive/car/torque_data/substitute.toml
+++ b/selfdrive/car/torque_data/substitute.toml
@@ -37,6 +37,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI ELANTRA HYBRID 2021" = "HYUNDAI SONATA 2020"
 "HYUNDAI TUCSON 2019" = "HYUNDAI SANTA FE 2019"
 "HYUNDAI SANTA FE 2022" = "HYUNDAI SANTA FE HYBRID 2022"
+"HYUNDAI_PALISADE_2023" = "HYUNDAI PALISADE 2020"
 "KIA K5 HYBRID 2020" = "KIA K5 2021"
 "KIA STINGER 2022" = "KIA STINGER GT2 2018"
 "GENESIS G90 2017" = "GENESIS G70 2018"