Radar Track UI - init

common/params_keys.h

@@ -122,4 +122,5 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"Version", PERSISTENT},
     {"dp_device_last_log", CLEAR_ON_ONROAD_TRANSITION},
     {"dp_device_reset_conf", CLEAR_ON_MANAGER_START},
+    {"dp_ui_radar_tracks", PERSISTENT},
 };

selfdrive/ui/qt/offroad/dp_panel.cc

@@ -172,6 +172,11 @@ void DPPanel::add_ui_toggles() {
       QString::fromUtf8("🐉 ") + tr("UI"),
       "",
     },
+    {
+      "dp_ui_radar_tracks",
+      tr("Display Radar Tracks"),
+      "",
+    },
   };
 
   QWidget *label = nullptr;
@@ -183,6 +188,9 @@ void DPPanel::add_ui_toggles() {
       addItem(label);
       continue;
     }
+    if (param == "dp_ui_radar_tracks" && !vehicle_has_long_ctrl) {
+      continue;
+    }
 
     has_toggle = true;
     auto toggle = new ParamControl(param, title, desc, "", this);

selfdrive/ui/qt/onroad/model.cc

@@ -48,6 +48,11 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
     }
   }
 
+  if (s->scene.dp_ui_radar_tracks) {
+    const auto &live_tracks = sm["liveTracks"].getLiveTracks();
+    drawLiveTracks(painter, live_tracks, model, surface_rect);
+  }
+
   painter.restore();
 }
 
@@ -186,6 +191,56 @@ QColor ModelRenderer::blendColors(const QColor &start, const QColor &end, float
       (1 - t) * start.alphaF() + t * end.alphaF());
 }
 
+void ModelRenderer::drawLiveTracks(QPainter &painter,
+  const cereal::RadarData::Reader &live_tracks,
+  const cereal::ModelDataV2::Reader &model_data,
+  const QRect &surface_rect) {
+
+  // Get the model's predicted path for Z-coordinate calculation
+  const auto& model_path_position = model_data.getPosition();
+
+  // Set text properties
+  painter.setPen(Qt::white);
+  painter.setFont(QFont("Inter", 24, QFont::Bold));
+
+  // Iterate through each radar point from live_tracks
+  for (const auto& point : live_tracks.getPoints()) {
+    float dRel = point.getDRel();
+    float yRel = point.getYRel();
+    float yvRel = point.getYvRel();
+    float vRel = point.getVRel();
+
+    // Calculate Z-coordinate using the model's path
+    float z_on_path = path_offset_z; // Default base offset
+
+    // Ensure dRel is non-negative for indexing
+    if (dRel >= 0) {
+      z_on_path += model_path_position.getZ()[get_path_length_idx(model_path_position, dRel)];
+    }
+
+    QPointF screen_pos;
+    // mapToScreen projects a point from car space to screen space
+    if (mapToScreen(dRel, -yRel, z_on_path, &screen_pos)) { // yRel is negated as in update_leads
+      // Basic drawing: Draw a small circle for the point
+      painter.setBrush(QColor(255, 0, 0, 200)); // Cyan color for live tracks
+      painter.drawEllipse(screen_pos, 10, 10); // Draw a small circle of radius 5
+
+      // Prepare text to display
+      QString infoText = QString("ID: %1\nd: %2 m\ny: %3 m\ndV: %4 m/s\nyV: %5 m/s")
+                           .arg(point.getTrackId())
+                           .arg(dRel, 0, 'f', 2)
+                           .arg(yRel, 0, 'f', 2)
+                           .arg(vRel, 0, 'f', 2)
+                           .arg(yvRel, 0, 'f', 2);
+
+      // Draw text near the point
+      // Adjust text position for better visibility (e.g., slightly offset from the point)
+      QRectF textRect(screen_pos.x() + 10, screen_pos.y() - 20, 250, 250); // Adjust size as needed
+      painter.drawText(textRect, Qt::AlignLeft, infoText);
+    }
+  }
+}
+
 void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data,
                              const QPointF &vd, const QRect &surface_rect) {
   const float speedBuff = 10.;

selfdrive/ui/qt/onroad/model.h

@@ -15,6 +15,7 @@ private:
   bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
   void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                         QPolygonF *pvd, int max_idx, bool allow_invert = true);
+  void drawLiveTracks(QPainter &painter, const cereal::RadarData::Reader &live_tracks, const cereal::ModelDataV2::Reader &model_data, const QRect &surface_rect);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
   void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
   void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);

selfdrive/ui/ui.cc

@@ -65,6 +65,7 @@ static void update_state(UIState *s) {
 void ui_update_params(UIState *s) {
   auto params = Params();
   s->scene.is_metric = params.getBool("IsMetric");
+  s->scene.dp_ui_radar_tracks = params.getBool("dp_ui_radar_tracks");
 }
 
 void UIState::updateStatus() {
@@ -99,6 +100,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "driverStateV2",
     "wideRoadCameraState", "managerState", "selfdriveState", "longitudinalPlan",
+    "liveTracks",
   });
   prime_state = new PrimeState(this);
   language = QString::fromStdString(Params().get("LanguageSetting"));

selfdrive/ui/ui.h

@@ -60,6 +60,7 @@ typedef struct UIScene {
   float light_sensor = -1;
   bool started, ignition, is_metric;
   uint64_t started_frame;
+  bool dp_ui_radar_tracks = false;
 } UIScene;
 
 class UIState : public QObject {

system/manager/manager.py

@@ -40,6 +40,7 @@ def manager_init() -> None:
     ("OpenpilotEnabledToggle", "1"),
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
     ("DisableLogging", "0"),
+    ("dp_ui_radar_tracks", "0"),
   ]
 
   if params.get_bool("RecordFrontLock"):