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ui: update lead's z position if modelV2 has been updated after startup. #23355

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merged 2 commits into from
Jan 3, 2022
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ui: update lead's z position if modelV2 has been updated after startup. #23355

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9da0b66
model frame >= started_frame
deanlee Jan 2, 2022
935ecef
remove optional
deanlee Jan 3, 2022
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12 changes: 4 additions & 8 deletions selfdrive/ui/ui.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -42,11 +42,11 @@ static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line
return max_idx;
}

static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, std::optional<cereal::ModelDataV2::XYZTData::Reader> line) {
static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line) {
for (int i = 0; i < 2; ++i) {
auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
if (lead_data.getStatus()) {
float z = line ? (*line).getZ()[get_path_length_idx(*line, lead_data.getDRel())] : 0.0;
float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]);
}
}
Expand Down Expand Up @@ -110,12 +110,8 @@ static void update_state(UIState *s) {
if (sm.updated("modelV2")) {
update_model(s, sm["modelV2"].getModelV2());
}
if (sm.updated("radarState")) {
std::optional<cereal::ModelDataV2::XYZTData::Reader> line;
if (sm.rcv_frame("modelV2") > 0) {
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@deanlee deanlee Jan 2, 2022 •
edited
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we added this if statement before because we encountered segfault without it. so I think it's better to keep it and make it more logically correct unless we can completely confirm that this if statement is not needed anymore

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@adeebshihadeh adeebshihadeh Jan 2, 2022 •
edited
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why is line optional for update_leads? should we just skip the call if there is no modelV2 yet? maybe this was written before the model was important for leads, I imagine now we don't want to draw any leads without the model

line = sm["modelV2"].getModelV2().getPosition();
}
update_leads(s, sm["radarState"].getRadarState(), line);
if (sm.updated("radarState") && sm.rcv_frame("modelV2") >= s->scene.started_frame) {
update_leads(s, sm["radarState"].getRadarState(), sm["modelV2"].getModelV2().getPosition());
}
if (sm.updated("liveCalibration")) {
auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
Expand Down