From 7d2f012387bd7e7271232f4ecbc8574622ca551b Mon Sep 17 00:00:00 2001
From: firestarsdog <229254897+firestarsdog@users.noreply.github.com>
Date: Mon, 28 Sep 2026 00:44:41 -0400
Subject: [PATCH] model renderer optimization

---
 selfdrive/ui/onroad/model_renderer.py     | 25 ++++++------
 selfdrive/ui/tests/test_model_renderer.py | 47 +++++++++++++++++++++++
 2 files changed, 61 insertions(+), 11 deletions(-)

diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py
index 73bfef6b7f..0e99c37d50 100644
--- a/selfdrive/ui/onroad/model_renderer.py
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -148,23 +148,26 @@ class ModelRenderer(Widget):
       self._rainbow_path.update(max(sm['carState'].vEgo, 0.0))
     render_lead_indicator = self._should_render_lead_indicator(radar_state)
 
-    # Update model data when needed
+    # Update model and lead data
     model_updated = sm.updated['modelV2']
-    if model_updated or sm.updated['radarState'] or self._transform_dirty:
-      if model_updated:
-        self._update_raw_points(model)
+    transform_dirty = self._transform_dirty
 
-      path_x_array = self._path.raw_points[:, 0]
-      if path_x_array.size == 0:
-        return
+    if model_updated:
+      self._update_raw_points(model)
 
+    path_x_array = self._path.raw_points[:, 0]
+    if path_x_array.size == 0:
+      return
+
+    if model_updated or transform_dirty:
       self._update_model(lead_one, path_x_array)
-      if render_lead_indicator:
-        self._update_leads(radar_state, path_x_array)
-        if sm.valid.get("starpilotRadarState", False):
-          self._update_adjacent_leads(sm["starpilotRadarState"], path_x_array)
       self._transform_dirty = False
 
+    if render_lead_indicator and (sm.updated['radarState'] or model_updated or transform_dirty):
+      self._update_leads(radar_state, path_x_array)
+      if sm.valid.get("starpilotRadarState", False):
+        self._update_adjacent_leads(sm["starpilotRadarState"], path_x_array)
+
     self._lead_text_rects = []
     self._adjacent_lead_text_rects = []
 
diff --git a/selfdrive/ui/tests/test_model_renderer.py b/selfdrive/ui/tests/test_model_renderer.py
index 341d327cb3..912525fb3d 100644
--- a/selfdrive/ui/tests/test_model_renderer.py
+++ b/selfdrive/ui/tests/test_model_renderer.py
@@ -161,3 +161,50 @@ def test_clipping_region_bounds_parity(renderer):
   for b, i in zip(batched, individual, strict=True):
     assert b.shape == i.shape
     np.testing.assert_allclose(b, i, rtol=1e-5, atol=1e-3)
+
+
+def test_radar_update_decoupled_from_model_regeneration(monkeypatch):
+  from unittest.mock import MagicMock
+  import pyray as rl
+  from openpilot.selfdrive.ui.onroad.model_renderer import ModelPoints
+
+  r = object.__new__(ModelRenderer)
+  r._path = ModelPoints()
+  r._path.raw_points = np.zeros((10, 3), dtype=np.float32)
+  r._transform_dirty = False
+  r._started_frame = 0
+  r._should_render_lead_indicator = lambda rs: True
+  r._update_model = MagicMock()
+  r._update_leads = MagicMock()
+  r._update_adjacent_leads = MagicMock()
+  r._draw_lane_lines = MagicMock()
+  r._draw_path = MagicMock()
+  r._draw_lead_indicator = MagicMock()
+  r._draw_radar_tracks = MagicMock()
+  r._update_raw_points = MagicMock()
+  r._params = SimpleNamespace(get_bool=lambda *args, **kwargs: False)
+
+  from openpilot.selfdrive.ui.ui_state import ui_state
+  class MockSM:
+    recv_frame = {"liveCalibration": 1, "modelV2": 1}
+    updated = {"carParams": False, "modelV2": False, "radarState": True}
+    valid = {"radarState": True, "starpilotRadarState": False}
+    def __getitem__(self, k):
+      return SimpleNamespace(openpilotLongitudinalControl=False, experimentalMode=False, leadOne=None, position=None, height=[1.22])
+
+  mock_sm = MockSM()
+  monkeypatch.setattr(ui_state, "sm", mock_sm)
+  monkeypatch.setattr(ui_state, "started_frame", 0)
+
+  # Frame 1: Only radarState updated. _update_model must NOT run, but _update_leads MUST run.
+  r._render(rl.Rectangle(0, 0, 100, 100))
+  assert not r._update_model.called, "Model geometry should not reproject on radarState alone"
+  assert r._update_leads.called, "Lead indicators should update on radarState"
+
+  # Frame 2: modelV2 updated. _update_model MUST run.
+  mock_sm.updated["modelV2"] = True
+  mock_sm.updated["radarState"] = False
+  r._update_model.reset_mock()
+  r._render(rl.Rectangle(0, 0, 100, 100))
+  assert r._update_model.called, "Model geometry should reproject when modelV2 updates"
+