we are one

selfdrive/ui/mici/onroad/model_renderer.py

@@ -154,7 +154,8 @@ class ModelRenderer(Widget, ModelRendererSP):
       self._draw_path(sm)
 
     if ui_state.radar_tracks and sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
-      self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z, track_size=3)
+      self.radar_tracks.draw_radar_tracks(sm['liveTracks'], self._map_to_screen, self._path_offset_z, track_size=3,
+                                          screen_offset=(self._rect.x, self._rect.y))
 
     # if render_lead_indicator and radar_state:
     #   self._draw_lead_indicator()

selfdrive/ui/sunnypilot/onroad/radar_tracks.py

@@ -42,7 +42,7 @@ def format_radar_tracks_onroad_columns(live_tracks) -> tuple[str, str]:
 
 
 class RadarTracks:
-  def draw_radar_tracks(self, live_tracks, map_to_screen, path_offset_z, track_size=6):
+  def draw_radar_tracks(self, live_tracks, map_to_screen, path_offset_z, track_size=6, screen_offset=(0, 0)):
     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)):
@@ -52,5 +52,5 @@ class RadarTracks:
       if pt is None:
         continue
 
-      x, y = pt
+      x, y = pt[0] + screen_offset[0], pt[1] + screen_offset[1]
       rl.draw_circle(int(x), int(y), track_size, rl.Color(0, 255, 64, 255))

selfdrive/ui/sunnypilot/onroad/test_radar_tracks.py

@@ -1,5 +1,6 @@
 from cereal import car
 
+from openpilot.selfdrive.ui.sunnypilot.onroad import radar_tracks
 from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import format_radar_tracks_onroad_columns, format_radar_tracks_onroad_status, \
                                                                   format_radar_tracks_status
 
@@ -37,3 +38,24 @@ def test_format_radar_tracks_status_deduplicates_and_sorts_ranges():
     "0x210-0x21F -\n0x500-0x51F -\n0x500-0x51F -",
     "1\n2\n3",
   )
+
+
+def test_draw_radar_tracks_applies_screen_offset(monkeypatch):
+  live_tracks = car.RadarData.new_message()
+  points = live_tracks.init("points", 1)
+  points[0].dRel = 10
+  points[0].yRel = 1
+  points[0].vRel = 2
+  points[0].aRel = 0
+  drawn_circles = []
+  monkeypatch.setattr(radar_tracks.rl, "draw_circle", lambda x, y, size, color: drawn_circles.append((x, y, size)))
+
+  radar_tracks.RadarTracks().draw_radar_tracks(
+    live_tracks,
+    lambda d_rel, y_rel, z: (20, 30),
+    path_offset_z=1.2,
+    track_size=3,
+    screen_offset=(100, 7),
+  )
+
+  assert drawn_circles == [(120, 37, 3)]