use in model renderer

selfdrive/ui/onroad/model_renderer.py

@@ -56,6 +56,8 @@ class ModelRenderer(Widget):
     self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
     self._path_offset_z = HEIGHT_INIT[0]
 
+    self._render_lead_indicator = False
+
     # Initialize ModelPoints objects
     self._path = ModelPoints()
     self._lane_lines = [ModelPoints() for _ in range(4)]
@@ -83,20 +85,9 @@ class ModelRenderer(Widget):
     self._car_space_transform = transform.astype(np.float32)
     self._transform_dirty = True
 
-  def _render(self, rect: rl.Rectangle):
-    sm = ui_state.sm
-
-    # Check if data is up-to-date
-    if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or
-        sm.recv_frame["modelV2"] < ui_state.started_frame):
-      return
-
-    # Set up clipping region
-    self._clip_region = rl.Rectangle(
-      rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN
-    )
-
+  def _update_state(self):
     # Update state
+    sm = ui_state.sm
     self._experimental_mode = sm['selfdriveState'].experimentalMode
 
     live_calib = sm['liveCalibration']
@@ -108,7 +99,7 @@ class ModelRenderer(Widget):
     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 = self._longitudinal_control and radar_state is not None
+    self._render_lead_indicator = self._longitudinal_control and radar_state is not None
 
     # Update model data when needed
     model_updated = sm.updated['modelV2']
@@ -121,15 +112,28 @@ class ModelRenderer(Widget):
         return
 
       self._update_model(lead_one, path_x_array)
-      if render_lead_indicator:
+      if self._render_lead_indicator:
         self._update_leads(radar_state, path_x_array)
       self._transform_dirty = False
 
+  def _render(self, rect: rl.Rectangle):
+    sm = ui_state.sm
+
+    # Check if data is up-to-date
+    if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or
+        sm.recv_frame["modelV2"] < ui_state.started_frame):
+      return
+
+    # Set up clipping region
+    self._clip_region = rl.Rectangle(
+      rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN
+    )
+
     # Draw elements
     self._draw_lane_lines()
     self._draw_path(sm)
 
-    if render_lead_indicator and radar_state:
+    if self._render_lead_indicator:
       self._draw_lead_indicator()
 
   def _update_raw_points(self, model):