From 07d1094f84b6a84b7b2ee592bd0d023bcdefe244 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 16 Jan 2022 01:09:24 +0800
Subject: [PATCH] ui: fix invalid line vertices on startup (#23541)

old-commit-hash: 6bd0e4b087d63ceda6911009bb5e1984f349a320
---
 selfdrive/ui/ui.cc | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index c33b61c19e..bfb805fd59 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -109,12 +109,6 @@ static void update_state(UIState *s) {
   SubMaster &sm = *(s->sm);
   UIScene &scene = s->scene;
 
-  if (sm.updated("modelV2")) {
-    update_model(s, sm["modelV2"].getModelV2());
-  }
-  if (sm.updated("radarState") && sm.rcv_frame("modelV2") >= s->scene.started_frame) {
-    update_leads(s, sm["radarState"].getRadarState(), sm["modelV2"].getModelV2().getPosition());
-  }
   if (sm.updated("liveCalibration")) {
     auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
     Eigen::Vector3d rpy;
@@ -131,6 +125,14 @@ static void update_state(UIState *s) {
       }
     }
   }
+  if (s->worldObjectsVisible()) {
+    if (sm.updated("modelV2")) {
+      update_model(s, sm["modelV2"].getModelV2());
+    }
+    if (sm.updated("radarState") && sm.rcv_frame("modelV2") >= s->scene.started_frame) {
+      update_leads(s, sm["radarState"].getRadarState(), sm["modelV2"].getModelV2().getPosition());
+    }
+  }
   if (sm.updated("pandaStates")) {
     auto pandaStates = sm["pandaStates"].getPandaStates();
     if (pandaStates.size() > 0) {