Requested changes, moved conditional to function call

commaai · Oct 8, 2024 · c018aac · c018aac
1 parent 2bf1b1e
commit c018aac
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Showing 2 changed files with 20 additions and 18 deletions.
diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py
@@ -9,7 +9,7 @@
                      (240, "orange", (255, 146, 0)),
                      (255, "white", (255, 255, 255)),
                      (110, "carColor", (255,0,127)),
-                     (0, "background", (0, 0, 0)),]
+                     (0, "background", (0, 0, 0))]
 
 
 class UIParams:
@@ -70,24 +70,25 @@ def plot_lead(rs, lid_overlay):
 
 
 def maybe_update_radar_points(lt, lid_overlay):
-  if lt is not None and hasattr(lt, 'trackList'):
+  ar_pts = []
+  if lt is not None:
     ar_pts = {}
-    for track in lt.trackList:
+    for track in lt:
       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):

diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py
@@ -33,7 +33,8 @@ def visualize(addr):
     if sm.recv_frame['radarState']:
       plot_lead(sm['radarState'], lid_overlay)
     liveTracksTime = sm.logMonoTime['liveTracks']
-    maybe_update_radar_points(sm['liveTracks'], lid_overlay)
+    if sm['liveTracks'] is not None and hasattr(sm['liveTracks'], 'trackList'):
+      maybe_update_radar_points(sm['liveTracks'], lid_overlay)
     rr.set_time_nanos("TIMELINE", liveTracksTime)
     rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1)))