Fixed iteration over liveTracks in radar visualization by ensuring th…

…e data structure is iterable and made the background black

tools/replay/lib/rp_helpers.py

@@ -8,7 +8,8 @@
                      (230, "vibrantpink", (255, 36, 170)),
                      (240, "orange", (255, 146, 0)),
                      (255, "white", (255, 255, 255)),
-                     (110, "carColor", (255,0,127))]
+                     (110, "carColor", (255,0,127)),
+                     (0, "background", (0, 0, 0)),]
 
 
 class UIParams:
@@ -69,25 +70,24 @@ def plot_lead(rs, lid_overlay):
 
 
 def maybe_update_radar_points(lt, lid_overlay):
-  ar_pts = []
-  if lt is not None:
+  if lt is not None and hasattr(lt, 'trackList'):
     ar_pts = {}
-    for track in lt:
+    for track in lt.trackList:
       ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
-  for ids, pt in ar_pts.items():
-    # negative here since radar is left positive
-    px, py = to_topdown_pt(pt[0], -pt[1])
-    if px != -1:
-      if pt[-1]:
-        color = rerunColorPalette[4][0]
-      elif pt[-2]:
-        color = rerunColorPalette[3][0]
-      else:
-        color = rerunColorPalette[5][0]
-      if int(ids) == 1:
-        lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0]
-      else:
-        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
+    for ids, pt in ar_pts.items():
+      # negative here since radar is left positive
+      px, py = to_topdown_pt(pt[0], -pt[1])
+      if px != -1:
+        if pt[-1]:
+          color = rerunColorPalette[4][0]
+        elif pt[-2]:
+          color = rerunColorPalette[3][0]
+        else:
+          color = rerunColorPalette[5][0]
+        if int(ids) == 1:
+          lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0]
+        else:
+          lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
 
 
 def get_blank_lid_overlay(UP):