      }
    }
  }
  
  static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
                               float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
    const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
  
    QPolygonF left_points, right_points;
    left_points.reserve(max_idx + 1);
 
</s> remove static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) {
 </s> add int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) { </s> remove static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
 </s> add void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { </s> remove static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line) {
 </s> add void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line) { </s> remove   }
  if (s->worldObjectsVisible()) {
    if (sm.updated("modelV2")) {
      update_model(s, sm["modelV2"].getModelV2());
    }
    if (sm.updated("radarState") && sm.rcv_frame("modelV2") > s->scene.started_frame) {
      update_leads(s, sm["radarState"].getRadarState(), sm["modelV2"].getModelV2().getPosition());
    }
 </s> add     scene.calibration_wide_valid = wfde_list.size() == 3;
void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
      }
    }
  }
  
void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
                               float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
    const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
  
    QPolygonF left_points, right_points;
    left_points.reserve(max_idx + 1);
keep keep keep keep replace keep keep keep keep keep
 UI: draw onroad objects on right frame (#26306)

* update before draw

* fix a lot of janky

* fix more flicker

* cleanup

* fix flicker when opening settings

* simplify 
selfdrive/ui/ui.cc