Update app.py

app.py

@@ -477,9 +477,9 @@ def prepare_model_input(image: np.ndarray, measurements: Measurements) -> Dict[s
         'target_point': target_point_tensor,
         'lidar': torch.zeros_like(image_tensor)
     }
-model_config = create_model_config(
-    model_path="model/best_model.pth"
-)
+# model_config = create_model_config(
+#     model_path="model/best_model.pth"
+# )
 # ==============================================================================
 # 5. أحداث دورة حياة التطبيق (Startup/Shutdown)
 # ==============================================================================
@@ -488,8 +488,8 @@ async def startup_event():
     global MODEL
     logging.info("🚗 Server starting up...")
     logging.info(f"Using device: {DEVICE}")
-    MODEL = load_and_prepare_model(model_config, DEVICE)
-    # MODEL = load_and_prepare_model(DEVICE)
+    # MODEL = load_and_prepare_model(model_config, DEVICE)
+    MODEL = load_and_prepare_model(DEVICE)
     if MODEL:
         logging.info("✅ Model loaded successfully. Server is ready!")
     else:
@@ -531,19 +531,41 @@ async def root():
         </body>
     </html>
     """
+# في ملف app.py
 
 @app.post("/start_session", summary="Start a new driving session", tags=["Session Management"])
 def start_session():
     session_id = str(uuid.uuid4())
-    config = create_model_config()
-    controller_params = config.get('controller_params', {})
-    controller_params.update({'frequency': 10.0}) # Set default frequency
     
+    # 1. الحصول على الإعدادات الكاملة من المصدر الوحيد
+    config = get_master_config()
+    
+    # 2. استخراج الإعدادات المطلوبة لكل مكون بشكل صريح
+    grid_conf = config['grid_conf']
+    controller_params = config['controller_params']
+    simulation_freq = config['simulation']['frequency']
+
+    # 3. تهيئة المتتبع (Tracker) بمعلماته المحددة
+    tracker = Tracker(
+        grid_conf=grid_conf,
+        match_threshold=controller_params.get('tracker_match_thresh', 2.5),
+        prune_age=controller_params.get('tracker_prune_age', 5)
+    )
+
+    # 4. تهيئة المتحكم (Controller)
+    controller = InterfuserController({
+        'controller_params': controller_params,
+        'grid_conf': grid_conf,
+        'frequency': simulation_freq
+    })
+    
+    # 5. إنشاء الجلسة بالكائنات المهيأة
     SESSIONS[session_id] = {
-        'tracker': Tracker(grid_conf=config['grid_conf']),
-        'controller': InterfuserController({'controller_params': controller_params, 'grid_conf': config['grid_conf']}),
+        'tracker': tracker,
+        'controller': controller,
         'frame_num': 0
     }
+    
     logging.info(f"New session started: {session_id}")
     return {"session_id": session_id}