init

selfdrive/ui/mici/onroad/model_renderer.py

@@ -1,3 +1,4 @@
+import math
 import colorsys
 import numpy as np
 import pyray as rl
@@ -145,6 +146,9 @@ class ModelRenderer(Widget):
       self._draw_lane_lines()
       self._draw_path(sm)
 
+    if (sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame):
+      self._draw_radar_tracks(sm['liveTracks'])
+
     # if render_lead_indicator and radar_state:
     #   self._draw_lead_indicator()
 
@@ -357,6 +361,19 @@ class ModelRenderer(Widget):
       else:
         draw_polygon(self._rect, self._path.projected_points, gradient=gradient)
 
+  def _draw_radar_tracks(self, live_tracks):
+    for track in live_tracks.points:
+      d_rel, y_rel, v_rel, a_rel = track.dRel, track.yRel, track.vRel, track.aRel
+      if not (math.isfinite(d_rel) and math.isfinite(y_rel) and math.isfinite(v_rel) and math.isfinite(a_rel)):
+        continue
+
+      pt = self._map_to_screen(d_rel, -y_rel, self._path_offset_z)
+      if pt is None:
+        continue
+
+      x, y = pt
+      rl.draw_circle(int(x), int(y), 3, rl.Color(0, 255, 64, 255))
+
   def _draw_lead_indicator(self):
     # Draw lead vehicles if available
     for lead in self._lead_vehicles:

selfdrive/ui/onroad/model_renderer.py

@@ -1,3 +1,4 @@
+import math
 import colorsys
 import numpy as np
 import pyray as rl
@@ -130,6 +131,9 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     self._draw_lane_lines()
     self._draw_path(sm)
 
+    if (sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame):
+      self._draw_radar_tracks(sm['liveTracks'])
+
     if render_lead_indicator and radar_state:
       self._draw_lead_indicator()
       self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)
@@ -308,6 +312,19 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
       )
       draw_polygon(self._rect, self._path.projected_points, gradient=gradient)
 
+  def _draw_radar_tracks(self, live_tracks):
+    for track in live_tracks.points:
+      d_rel, y_rel, v_rel, a_rel = track.dRel, track.yRel, track.vRel, track.aRel
+      if not (math.isfinite(d_rel) and math.isfinite(y_rel) and math.isfinite(v_rel) and math.isfinite(a_rel)):
+        continue
+
+      pt = self._map_to_screen(d_rel, -y_rel, self._path_offset_z)
+      if pt is None:
+        continue
+
+      x, y = pt
+      rl.draw_circle(int(x), int(y), 6, rl.Color(0, 255, 64, 255))
+
   def _draw_lead_indicator(self):
     # Draw lead vehicles if available
     for lead in self._lead_vehicles:

selfdrive/ui/ui_state.py

@@ -60,6 +60,7 @@ class UIState(UIStateSP):
         "carControl",
         "liveParameters",
         "rawAudioData",
+        "liveTracks",
       ] + self.sm_services_ext
     )