ui: draw all radard leads (#22901)

* draw leads detected from radar since it has a low speed override

* comment

* fill lead_verticies

* fix

* Revert changes

Revert "fix"

This reverts commit 7a478c435a0913e09512801309cf52654f3e17ac.

Revert "fill lead_verticies"

This reverts commit 5cdf265bb98480413a4a83c093b3e00489ba2f94.

Revert "comment"

This reverts commit 24a8a3fc2beef263909810d828d4e4fb5ea576e8.

Revert "draw leads detected from radar since it has a low speed override"

This reverts commit 4679fa5d16c7e961def9aaa52e92fb7d994a830d.

* Revert "Draw model leads (#21864)"

This commit reverts 276b00ccb8

selfdrive/ui/paint.cc

@@ -64,15 +64,15 @@ static void ui_draw_circle_image(const UIState *s, int center_x, int center_y, i
   ui_draw_circle_image(s, center_x, center_y, radius, image, nvgRGBA(0, 0, 0, (255 * bg_alpha)), img_alpha);
 }
 
-static void draw_lead(UIState *s, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const vertex_data &vd) {
+static void draw_lead(UIState *s, const cereal::RadarState::LeadData::Reader &lead_data, const vertex_data &vd) {
   // Draw lead car indicator
   auto [x, y] = vd;
 
   float fillAlpha = 0;
   float speedBuff = 10.;
   float leadBuff = 40.;
-  float d_rel = lead_data.getX()[0];
-  float v_rel = lead_data.getV()[0];
+  float d_rel = lead_data.getDRel();
+  float v_rel = lead_data.getVRel();
   if (d_rel < leadBuff) {
     fillAlpha = 255*(1.0-(d_rel/leadBuff));
     if (v_rel < 0) {
@@ -139,12 +139,12 @@ static void ui_draw_world(UIState *s) {
 
   // Draw lead indicators if openpilot is handling longitudinal
   if (s->scene.longitudinal_control) {
-    auto lead_one = (*s->sm)["modelV2"].getModelV2().getLeadsV3()[0];
-    auto lead_two = (*s->sm)["modelV2"].getModelV2().getLeadsV3()[1];
-    if (lead_one.getProb() > .5) {
+    auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne();
+    auto lead_two = (*s->sm)["radarState"].getRadarState().getLeadTwo();
+    if (lead_one.getStatus()) {
       draw_lead(s, lead_one, s->scene.lead_vertices[0]);
     }
-    if (lead_two.getProb() > .5 && (std::abs(lead_one.getX()[0] - lead_two.getX()[0]) > 3.0)) {
+    if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
       draw_lead(s, lead_two, s->scene.lead_vertices[1]);
     }
   }

selfdrive/ui/ui.cc

@@ -44,13 +44,12 @@ static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line
   return max_idx;
 }
 
-static void update_leads(UIState *s, const cereal::ModelDataV2::Reader &model) {
-  auto leads = model.getLeadsV3();
-  auto model_position = model.getPosition();
+static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, std::optional<cereal::ModelDataV2::XYZTData::Reader> line) {
   for (int i = 0; i < 2; ++i) {
-    if (leads[i].getProb() > 0.5) {
-      float z = model_position.getZ()[get_path_length_idx(model_position, leads[i].getX()[0])];
-      calib_frame_to_full_frame(s, leads[i].getX()[0], leads[i].getY()[0], z + 1.22, &s->scene.lead_vertices[i]);
+    auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
+    if (lead_data.getStatus()) {
+      float z = line ? (*line).getZ()[get_path_length_idx(*line, lead_data.getDRel())] : 0.0;
+      calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]);
     }
   }
 }
@@ -93,9 +92,9 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
   }
 
   // update path
-  auto lead_one = model.getLeadsV3()[0];
-  if (lead_one.getProb() > 0.5) {
-    const float lead_d = lead_one.getX()[0] * 2.;
+  auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne();
+  if (lead_one.getStatus()) {
+    const float lead_d = lead_one.getDRel() * 2.;
     max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
   }
   max_idx = get_path_length_idx(model_position, max_distance);
@@ -118,9 +117,14 @@ static void update_state(UIState *s) {
     scene.dm_active = sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode();
   }
   if (sm.updated("modelV2") && s->vg) {
-    auto model = sm["modelV2"].getModelV2();
-    update_model(s, model);
-    update_leads(s, model);
+    update_model(s, sm["modelV2"].getModelV2());
+  }
+  if (sm.updated("radarState") && s->vg) {
+    std::optional<cereal::ModelDataV2::XYZTData::Reader> line;
+    if (sm.rcv_frame("modelV2") > 0) {
+      line = sm["modelV2"].getModelV2().getPosition();
+    }
+    update_leads(s, sm["radarState"].getRadarState(), line);
   }
   if (sm.updated("liveCalibration")) {
     scene.world_objects_visible = true;
@@ -225,7 +229,7 @@ static void update_status(UIState *s) {
 
 QUIState::QUIState(QObject *parent) : QObject(parent) {
   ui_state.sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
-    "modelV2", "controlsState", "liveCalibration", "deviceState", "roadCameraState",
+    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
     "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman",
   });