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Human Lane Change ui fix

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Toggled on, would show adjecent radar leads, even if that toggle was off.
Now gated to its toggle in developer ui.
This commit is contained in:
whoisdomi
2026-06-01 21:20:16 -05:00
parent 9f30661f6d
commit d2a8163f32
2 changed files with 20 additions and 14 deletions
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selfdrive/ui/onroad/model_renderer.py
+3 -1
View File
@@ -158,7 +158,9 @@ class ModelRenderer(Widget):
if render_lead_indicator and radar_state:
self._draw_lead_indicator(radar_state)
if sm.valid.get("starpilotRadarState", False):
# Adjacent leads may be published by radard for non-UI consumers (e.g. HumanLaneChanges),
# so gate drawing on the AdjacentLeadsUI param directly.
if sm.valid.get("starpilotRadarState", False) and self._params.get_bool("AdjacentLeadsUI"):
self._draw_adjacent_leads()
self._draw_radar_tracks()
selfdrive/ui/qt/onroad/model.cc
+17 -13
View File
@@ -51,25 +51,29 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
drawLead(painter, lead_two, lead_vertices[1], surface_rect, QColor(starpilot_toggles.value("lead_marker_color").toString()));
}
SubMaster &fpsm = *(starpilotUIState()->sm);
const cereal::StarPilotRadarState::Reader &starpilot_radar_state = fpsm["starpilotRadarState"].getStarpilotRadarState();
// Adjacent leads may be published by radard for non-UI consumers (e.g. HumanLaneChanges),
// so gate drawing on the AdjacentLeadsUI toggle directly.
if (starpilot_toggles.value("adjacent_lead_tracking").toBool()) {
SubMaster &fpsm = *(starpilotUIState()->sm);
const cereal::StarPilotRadarState::Reader &starpilot_radar_state = fpsm["starpilotRadarState"].getStarpilotRadarState();
const cereal::StarPilotRadarState::LeadData::Reader &lead_left = starpilot_radar_state.getLeadLeft();
const cereal::StarPilotRadarState::LeadData::Reader &lead_right = starpilot_radar_state.getLeadRight();
const cereal::StarPilotRadarState::LeadData::Reader &lead_left = starpilot_radar_state.getLeadLeft();
const cereal::StarPilotRadarState::LeadData::Reader &lead_right = starpilot_radar_state.getLeadRight();
updateAdjacentLeads(starpilot_radar_state, model.getPosition());
updateAdjacentLeads(starpilot_radar_state, model.getPosition());
starpilot_nvg->adjacentLeadTextRect = QRect();
starpilot_nvg->adjacentLeadTextRect = QRect();
if (lead_left.getStatus() && lead_right.getStatus() && (lead_left.getDRel() < lead_right.getDRel())) {
drawLead(painter, reinterpret_cast<const cereal::RadarState::LeadData::Reader&>(lead_left), adjacent_lead_vertices[0], surface_rect, starpilot_nvg->blueColor(), true);
drawLead(painter, reinterpret_cast<const cereal::RadarState::LeadData::Reader&>(lead_right), adjacent_lead_vertices[1], surface_rect, starpilot_nvg->purpleColor(), true);
} else {
if (lead_left.getStatus()) {
if (lead_left.getStatus() && lead_right.getStatus() && (lead_left.getDRel() < lead_right.getDRel())) {
drawLead(painter, reinterpret_cast<const cereal::RadarState::LeadData::Reader&>(lead_left), adjacent_lead_vertices[0], surface_rect, starpilot_nvg->blueColor(), true);
}
if (lead_right.getStatus()) {
drawLead(painter, reinterpret_cast<const cereal::RadarState::LeadData::Reader&>(lead_right), adjacent_lead_vertices[1], surface_rect, starpilot_nvg->purpleColor(), true);
} else {
if (lead_left.getStatus()) {
drawLead(painter, reinterpret_cast<const cereal::RadarState::LeadData::Reader&>(lead_left), adjacent_lead_vertices[0], surface_rect, starpilot_nvg->blueColor(), true);
}
if (lead_right.getStatus()) {
drawLead(painter, reinterpret_cast<const cereal::RadarState::LeadData::Reader&>(lead_right), adjacent_lead_vertices[1], surface_rect, starpilot_nvg->purpleColor(), true);
}
}
}
}