    }
    return false;
  }
  
  static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) {
    const auto line_x = line.getX();
    int max_idx = 0;
    for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) {
      max_idx = i;
    }
 
</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 static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
 </s> add void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line, </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   }
  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;
int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) {
    }
    return false;
  }
  
int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) {
    const auto line_x = line.getX();
    int max_idx = 0;
    for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) {
      max_idx = i;
    }
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