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ui: update lead's z position if modelV2 has been updated after startup. #23355

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merged 2 commits into from
Jan 3, 2022
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ui: update lead's z position if modelV2 has been updated after startup. #23355

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9da0b66
model frame >= started_frame
deanlee Jan 2, 2022
935ecef
remove optional
deanlee Jan 3, 2022
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2 changes: 1 addition & 1 deletion selfdrive/ui/ui.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -112,7 +112,7 @@ static void update_state(UIState *s) {
}
if (sm.updated("radarState")) {
std::optional<cereal::ModelDataV2::XYZTData::Reader> line;
if (sm.rcv_frame("modelV2") > 0) {
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@deanlee deanlee Jan 2, 2022 •
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we added this if statement before because we encountered segfault without it. so I think it's better to keep it and make it more logically correct unless we can completely confirm that this if statement is not needed anymore

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@adeebshihadeh adeebshihadeh Jan 2, 2022 •
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why is line optional for update_leads? should we just skip the call if there is no modelV2 yet? maybe this was written before the model was important for leads, I imagine now we don't want to draw any leads without the model

if (sm.rcv_frame("modelV2") >= s->scene.started_frame) {
line = sm["modelV2"].getModelV2().getPosition();
}
update_leads(s, sm["radarState"].getRadarState(), line);
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