DrawRadarTracks

openpilot/common/params_keys.h

@@ -155,6 +155,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
     {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
+    {"DrawRadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
     {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
     {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},

openpilot/selfdrive/ui/layouts/settings/toggles.py

@@ -118,6 +118,12 @@ class TogglesLayout(Widget):
         selected_index=self._params.get("RadarTracks", return_default=True),
       )
       self._toggles["RadarTracks"] = self._radar_tracks_setting
+      self._toggle_defs["DrawRadarTracks"] = (
+        lambda: tr("Draw Radar Tracks"),
+        tr_noop("Show radar tracks on the driving screen. Disabling this does not disable radar processing."),
+        "",
+        False,
+      )
     self._locked_toggles = set()
     for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
       toggle = toggle_item(

openpilot/selfdrive/ui/mici/layouts/settings/toggles.py

@@ -22,9 +22,11 @@ class TogglesLayoutMici(NavScroller):
     record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
     enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
     radar_tracks = BigMultiParamToggle("radar tracks", "RadarTracks", ["off", "lead only", "full radar"])
+    draw_radar_tracks = BigParamControl("draw radar tracks", "DrawRadarTracks")
 
     self._scroller.add_widgets([
       radar_tracks,
+      draw_radar_tracks,
       self._personality_toggle,
       self._experimental_btn,
       is_metric_toggle,
@@ -38,6 +40,7 @@ class TogglesLayoutMici(NavScroller):
     # Toggle lists
     self._refresh_toggles = (
       ("RadarTracks", radar_tracks),
+      ("DrawRadarTracks", draw_radar_tracks),
       ("ExperimentalMode", self._experimental_btn),
       ("IsMetric", is_metric_toggle),
       ("IsLdwEnabled", ldw_toggle),

openpilot/selfdrive/ui/mici/onroad/model_renderer.py

@@ -135,7 +135,7 @@ class ModelRenderer(Widget, ModelRendererSP):
     model = sm['modelV2']
     radar_state = sm['radarState'] if sm.valid['radarState'] else None
     lead_one = radar_state.leadOne if radar_state else None
-    render_lead_indicator = ui_state.radar_tracks != 0 and radar_state is not None
+    render_lead_indicator = ui_state.draw_radar_tracks and ui_state.radar_tracks != 0 and radar_state is not None
 
     # Update model data when needed
     model_updated = sm.updated['modelV2']
@@ -158,7 +158,7 @@ class ModelRenderer(Widget, ModelRendererSP):
       self._draw_lane_lines()
       self._draw_path(sm)
 
-    if sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
+    if ui_state.draw_radar_tracks and sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
       if (sm.updated['liveTracks'] or sm.updated['liveCalibration'] or transform_updated or
           not self.radar_tracks.projection_initialized):
         self.radar_tracks.update_radar_tracks(

openpilot/selfdrive/ui/onroad/model_renderer.py

@@ -119,7 +119,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
     model = sm['modelV2']
     radar_state = sm['radarState'] if sm.valid['radarState'] else None
     lead_one = radar_state.leadOne if radar_state else None
-    render_lead_indicator = ui_state.radar_tracks != 0 and radar_state is not None
+    render_lead_indicator = ui_state.draw_radar_tracks and ui_state.radar_tracks != 0 and radar_state is not None
 
     # Update model data when needed
     model_updated = sm.updated['modelV2']
@@ -141,7 +141,7 @@ 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:
+    if ui_state.draw_radar_tracks and sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
       if (sm.updated['liveTracks'] or sm.updated['liveCalibration'] or transform_updated or
           not self.radar_tracks.projection_initialized):
         self.radar_tracks.update_radar_tracks(

openpilot/selfdrive/ui/sunnypilot/ui_state.py

@@ -43,6 +43,7 @@ class UIStateSP:
     self.chevron_metrics = None
     self.custom_interactive_timeout: int = 0
     self.developer_ui = None
+    self.draw_radar_tracks: bool = self.params.get_bool("DrawRadarTracks")
     self.hide_v_ego_ui: bool = False
     self.radar_tracks: int = self.params.get("RadarTracks", return_default=True)
     self.onroad_brightness: int = 0
@@ -152,6 +153,7 @@ class UIStateSP:
     self.chevron_metrics = self.params.get("ChevronInfo")
     self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
     self.developer_ui = self.params.get("DevUIInfo")
+    self.draw_radar_tracks = self.params.get_bool("DrawRadarTracks")
     self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI")
     self.radar_tracks = self.params.get("RadarTracks", return_default=True)
     self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))