test

2026-06-20 01:02:07 +08:00 · 2025-12-03 03:10:28 -05:00
37 changed files with 33 additions and 4848 deletions
@@ -2,6 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
-indeces
 FOF
 NoO
@@ -21,12 +21,5 @@
        </clean>
      </configuration>
    </target>
-    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
-      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv build tools replay" />
-        </build>
-      </configuration>
-    </target>
  </component>
 </project>
@@ -20,11 +20,4 @@
      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
    </exec>
  </tool>
-  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -1,27 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
-    <module name="openpilot-special" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <envs>
-      <env name="PYTHONUNBUFFERED" value="1" />
-      <env name="FINGERPRINT" value="KIA_EV9" />
-      <env name="SKIP_FW_QUERY" value="1" />
-    </envs>
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
-    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="true" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2" />
-  </configuration>
-</component>
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
-    <runConfiguration name="replay for controls" type="Native Application" />
-    <runConfiguration name="Build Debug" type="Custom Build Application" />
-    <method v="2" />
-  </configuration>
-</component>
@@ -1,7 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
-    <method v="2">
-      <option name="CLION.COMPOUND.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>
@@ -262,11 +262,4 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
-
-    // Tuning keys
-    {"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}},
-    {"HkgTuningAngleMaxTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
-    {"HkgTuningAngleActiveTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
-    {"HkgTuningOverridingCycles", {PERSISTENT | BACKUP, INT, "17"}},
 };
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"

 function run() {
@@ -177,7 +177,7 @@ class HomeLayout(Widget):

    version_rect = rl.Rectangle(self.header_rect.x + self.header_rect.width - version_text_width, self.header_rect.y,
                                version_text_width, self.header_rect.height)
-    gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT)
+    gui_label(version_rect, self._version_text, 48, rl.WHITE, alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, font_weight=FontWeight.AUDIOWIDE)

  def _render_home_content(self):
    self._render_left_column()
@@ -19,9 +19,6 @@ from openpilot.system.ui.widgets.list_view import text_item, button_item, dual_b
 from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
 from openpilot.system.ui.widgets.scroller_tici import Scroller

-if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
-
 # Description constants
 DESCRIPTIONS = {
  'pair_device': tr_noop("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."),
@@ -11,9 +11,6 @@ from openpilot.system.ui.widgets.list_view import button_item, text_item, ListIt
 from openpilot.system.ui.widgets.option_dialog import MultiOptionDialog
 from openpilot.system.ui.widgets.scroller_tici import Scroller

-if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
-
 # TODO: remove this. updater fails to respond on startup if time is not correct
 UPDATED_TIMEOUT = 10  # seconds to wait for updated to respond

@@ -4,252 +4,24 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import os
-import re
-import time
-import pyray as rl
-
-from cereal import custom
-from openpilot.common.constants import CV
-from openpilot.selfdrive.ui.ui_state import device, ui_state
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.widgets import DialogResult, Widget
-from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
+from openpilot.common.params import Params
 from openpilot.system.ui.widgets.scroller_tici import Scroller
-from openpilot.system.ui.widgets.toggle import ON_COLOR
-
-from openpilot.sunnypilot.models.runners.constants import CUSTOM_MODEL_PATH
-from openpilot.system.ui.sunnypilot.lib.styles import style
-from openpilot.system.ui.sunnypilot.widgets.list_view import ButtonActionSP, ListItemSP, toggle_item_sp, option_item_sp
-from openpilot.system.ui.sunnypilot.widgets.progress_bar import progress_item
-from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
-
-if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
-
-
-class ModelAction(ButtonActionSP):
-  def get_width_hint(self):
-    return super().get_width_hint() + 1
+from openpilot.system.ui.widgets import Widget


 class ModelsLayout(Widget):
  def __init__(self):
    super().__init__()
-    self.model_manager = None
-    self.download_status = None
-    self.prev_download_status = None
-    self.model_dialog = None
-    self.last_cache_calc_time = 0

-    self._initialize_items()
-
-    self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
-    for ctrl, key in [(self.lane_turn_value_control, "LaneTurnValue"), (self.delay_control, "LagdToggleDelay")]:
-      ctrl.action_item.set_value(int(float(ui_state.params.get(key, return_default=True)) * 100))
-
-    self._scroller = Scroller(self.items, line_separator=True, spacing=0)
+    self._params = Params()
+    items = self._initialize_items()
+    self._scroller = Scroller(items, line_separator=True, spacing=0)

  def _initialize_items(self):
-    self.current_model_item = ListItemSP(
-      title=tr("Current Model"),
-      description="",
-      action_item=ModelAction(tr("SELECT")),
-      callback=self._handle_current_model_clicked
-    )
+    items = [

-    self.supercombo_label = progress_item(tr("Driving Model"))
-    self.vision_label = progress_item(tr("Vision Model"))
-    self.policy_label = progress_item(tr("Policy Model"))
-
-    self.refresh_item = button_item(tr("Refresh Model List"), tr("REFRESH"), "",
-                                    lambda: (ui_state.params.put("ModelManager_LastSyncTime", 0),
-                                             gui_app.set_modal_overlay(alert_dialog(tr("Fetching Latest Models")))))
-
-    self.clear_cache_item = ListItemSP(
-      title=tr("Clear Model Cache"),
-      description="",
-      action_item=ModelAction(tr("CLEAR")),
-      callback=self._clear_cache
-    )
-
-    self.cancel_download_item = button_item(tr("Cancel Download"), tr("Cancel"), "", lambda: ui_state.params.remove("ModelManager_DownloadIndex"))
-
-    self.lane_turn_value_control = option_item_sp(tr("Adjust Lane Turn Speed"), "LaneTurnValue", 500, 2000,
-                                                  tr("Set the maximum speed for lane turn desires. Default is 19 mph."),
-                                                  int(round(100 / CV.MPH_TO_KPH)), None, True, "", style.BUTTON_WIDTH, None, True,
-                                                  lambda v: f"{int(round(v / 100 * (CV.MPH_TO_KPH if ui_state.is_metric else 1)))}" +
-                                                            f" {'km/h' if ui_state.is_metric else 'mph'}")
-
-    self.lane_turn_desire_toggle = toggle_item_sp(tr("Use Lane Turn Desires"),
-                                                  tr("If you're driving at 20 mph (32 km/h) or below and have your blinker on," +
-                                                     " the car will plan a turn in that direction at the nearest drivable path. " +
-                                                     "This prevents situations (like at red lights) where the car might plan the wrong turn direction."),
-                                                  param="LaneTurnDesire")
-
-    self.delay_control = option_item_sp(tr("Adjust Software Delay"), "LagdToggleDelay", 5, 50,
-                                        tr("Adjust the software delay when Live Learning Steer Delay is toggled off. The default software delay value is 0.2"),
-                                        1, None, True, "", style.BUTTON_WIDTH, None, True, lambda v: f"{v / 100:.2f}s")
-
-    self.lagd_toggle = toggle_item_sp(tr("Live Learning Steer Delay"), "", param="LagdToggle")
-
-    self.items = [self.current_model_item, self.cancel_download_item, self.supercombo_label, self.vision_label,
-                  self.policy_label, self.refresh_item, self.clear_cache_item, self.lane_turn_desire_toggle,
-                  self.lane_turn_value_control, self.lagd_toggle, self.delay_control]
-
-  def _update_lagd_description(self, lagd_toggle: bool):
-    desc = tr("Enable this for the car to learn and adapt its steering response time. Disable to use a fixed steering response time. " +
-              "Keeping this on provides the stock openpilot experience.")
-    if lagd_toggle:
-      desc += f"<br>{tr('Live Steer Delay:')} {ui_state.sm['liveDelay'].lateralDelay:.3f} s"
-    elif ui_state.CP:
-      sw = float(ui_state.params.get("LagdToggleDelay", "0.2"))
-      cp = ui_state.CP.steerActuatorDelay
-      desc += f"<br>{tr('Actuator Delay:')} {cp:.2f} s + {tr('Software Delay:')} {sw:.2f} s = {tr('Total Delay:')} {cp + sw:.2f} s"
-    self.lagd_toggle.set_description(desc)
-
-  def _is_downloading(self):
-    return (self.model_manager and self.model_manager.selectedBundle and
-            self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading)
-
-  @staticmethod
-  def _calculate_cache_size():
-    cache_size = 0.0
-    if os.path.exists(CUSTOM_MODEL_PATH):
-      cache_size = sum(os.path.getsize(os.path.join(CUSTOM_MODEL_PATH, file)) for file in os.listdir(CUSTOM_MODEL_PATH)) / (1024**2)
-    return cache_size
-
-  def _clear_cache(self):
-    def _callback(response):
-      if response == DialogResult.CONFIRM:
-        ui_state.params.put_bool("ModelManager_ClearCache", True)
-        self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
-
-    gui_app.set_modal_overlay(ConfirmDialog(tr("This will delete ALL downloaded models from the cache except the currently active model. Are you sure?"),
-                                            tr("Clear Cache")), callback=_callback)
-
-  def _handle_bundle_download_progress(self):
-    labels = {custom.ModelManagerSP.Model.Type.supercombo: self.supercombo_label,
-              custom.ModelManagerSP.Model.Type.vision: self.vision_label,
-              custom.ModelManagerSP.Model.Type.policy: self.policy_label}
-    for label in labels.values():
-      label.set_visible(False)
-    self.cancel_download_item.set_visible(False)
-
-    if not self.model_manager or (not self.model_manager.selectedBundle and not self.model_manager.activeBundle):
-      return
-
-    bundle = self.model_manager.selectedBundle if self._is_downloading() or (
-      self.model_manager.selectedBundle and self.model_manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.failed
-    ) else self.model_manager.activeBundle
-    if not bundle:
-      return
-
-    self.download_status = bundle.status
-    status_changed = self.prev_download_status != self.download_status
-    self.prev_download_status = self.download_status
-
-    self.cancel_download_item.set_visible(bool(self.model_manager.selectedBundle) and bool(ui_state.params.get("ModelManager_DownloadIndex")))
-
-    if (current_time := time.monotonic()) - self.last_cache_calc_time > 0.5:
-      self.last_cache_calc_time = current_time
-      self.clear_cache_item.action_item.set_value(f"{self._calculate_cache_size():.2f} MB")
-
-    if self.download_status == custom.ModelManagerSP.DownloadStatus.downloading:
-      device.reset_interactive_timeout()
-
-    for model in bundle.models:
-      if label := labels.get(getattr(model.type, 'raw', model.type)):
-        label.set_visible(True)
-        p = model.artifact.downloadProgress
-        text, show, color = f"pending - {bundle.displayName}", False, rl.GRAY
-        if p.status == custom.ModelManagerSP.DownloadStatus.downloading:
-          text, show = f"{int(p.progress)}% - {bundle.displayName}", True
-        elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded, custom.ModelManagerSP.DownloadStatus.cached):
-          status_text = tr("from cache" if p.status == custom.ModelManagerSP.DownloadStatus.cached else "downloaded")
-          text, color = f"{bundle.displayName} - {status_text if status_changed else tr('ready')}", ON_COLOR
-        elif p.status == custom.ModelManagerSP.DownloadStatus.failed:
-          text, color = f"download failed - {bundle.displayName}", rl.RED
-        label.action_item.update(p.progress, text, show, color)
-
-  @staticmethod
-  def _show_reset_params_dialog():
-    def _callback(response):
-      if response == DialogResult.CONFIRM:
-        ui_state.params.remove("CalibrationParams")
-        ui_state.params.remove("LiveTorqueParameters")
-    msg = tr("Model download has started in the background. We suggest resetting calibration. Would you like to do that now?")
-    gui_app.set_modal_overlay(ConfirmDialog(msg, tr("Reset Calibration")), callback=_callback)
-
-  def _on_model_selected(self, result):
-    if result != DialogResult.CONFIRM:
-      return
-    selected_ref = self.model_dialog.selection_ref
-    if selected_ref == "Default":
-      ui_state.params.remove("ModelManager_ActiveBundle")
-      self._show_reset_params_dialog()
-    elif selected_bundle := next((bundle for bundle in self.model_manager.availableBundles if bundle.ref == selected_ref), None):
-      ui_state.params.put("ModelManager_DownloadIndex", selected_bundle.index)
-      if self.model_manager.activeBundle and selected_bundle.generation != self.model_manager.activeBundle.generation:
-        self._show_reset_params_dialog()
-    self.model_dialog = None
-
-  @staticmethod
-  def _bundle_to_node(bundle):
-    return TreeNode(bundle.ref, {'display_name': bundle.displayName, 'short_name': bundle.internalName})
-
-  def _get_folders(self, favorites):
-    bundles = self.model_manager.availableBundles
-    folders = {}
-    for bundle in bundles:
-      folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)
-
-    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
-    for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
-      folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
-      name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
-      folders_list.append(TreeFolder(name, [self._bundle_to_node(bundle) for bundle in folder_bundles]))
-
-    if favorites and (fav_bundles := [bundle for bundle in bundles if bundle.ref in favorites]):
-      folders_list.insert(1, TreeFolder("Favorites", [self._bundle_to_node(bundle) for bundle in fav_bundles]))
-    return folders_list
-
-  def _handle_current_model_clicked(self):
-    favs = ui_state.params.get("ModelManager_Favs")
-    favorites = set(favs.split(';')) if favs else set()
-    folders_list = self._get_folders(favorites)
-
-    active_ref = self.model_manager.activeBundle.ref if self.model_manager.activeBundle else "Default"
-    self.model_dialog = TreeOptionDialog(tr("Select a Model"), folders_list, active_ref, "ModelManager_Favs",
-                                         get_folders_fn=self._get_folders, on_exit=self._on_model_selected)
-    gui_app.set_modal_overlay(self.model_dialog, callback=self._on_model_selected)
-
-  def _update_state(self):
-    advanced_controls: bool = ui_state.params.get_bool("ShowAdvancedControls")
-    turn_desire: bool = ui_state.params.get_bool("LaneTurnDesire")
-    live_delay: bool = ui_state.params.get_bool("LagdToggle")
-
-    self.lane_turn_desire_toggle.action_item.set_state(turn_desire)
-    self.lane_turn_value_control.set_visible(turn_desire and advanced_controls)
-    self.lagd_toggle.action_item.set_state(live_delay)
-    self.delay_control.set_visible(not live_delay and advanced_controls)
-    new_step = int(round(100 / CV.MPH_TO_KPH)) if ui_state.is_metric else 100
-    if self.lane_turn_value_control.action_item.value_change_step != new_step:
-      self.lane_turn_value_control.action_item.value_change_step = new_step
-
-    self._update_lagd_description(live_delay)
-    self.model_manager = ui_state.sm["modelManagerSP"]
-    self._handle_bundle_download_progress()
-    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
-    self.current_model_item.action_item.set_value(active_name)
-
-    if not ui_state.is_offroad():
-      self.current_model_item.action_item.set_enabled(False)
-      self.current_model_item.set_description(tr("Only available when vehicle is off, or always offroad mode is on"))
-    else:
-      self.current_model_item.action_item.set_enabled(True)
-      self.current_model_item.set_description("")
+    ]
+    return items

  def _render(self, rect):
    self._scroller.render(rect)
@@ -12,7 +12,7 @@ from openpilot.selfdrive.ui.layouts.settings import settings as OP
 from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
 from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.software import SoftwareLayoutSP
+from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
 from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
 from openpilot.system.ui.lib.application import gui_app, MousePos
 from openpilot.system.ui.lib.multilang import tr_noop
@@ -112,9 +112,9 @@ class SettingsLayoutSP(OP.SettingsLayout):
    self._panels = {
      OP.PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_home.png"),
      OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUISP(wifi_manager), icon="icons/network.png"),
-      OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/wifi_strength_full.png"),
+      OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/shell.png"),
      OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
-      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
+      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
      OP.PanelType.MODELS: PanelInfo(tr_noop("Models"), ModelsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
      OP.PanelType.STEERING: PanelInfo(tr_noop("Steering"), SteeringLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
      OP.PanelType.CRUISE: PanelInfo(tr_noop("Cruise"), CruiseLayout(), icon="icons/speed_limit.png"),
@@ -1,96 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import os
-
-from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.multilang import tr, tr_noop
-from openpilot.system.ui.widgets import DialogResult
-from openpilot.system.ui.widgets.confirm_dialog import ConfirmDialog
-
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-from openpilot.system.ui.sunnypilot.widgets.tree_dialog import TreeOptionDialog, TreeNode, TreeFolder
-
-
-DESCRIPTIONS = {
-  'disable_updates_offroad': tr_noop(
-    "When enabled, automatic software updates will be off.<br><b>This requires a reboot to take effect.</b>"
-  ),
-  'disable_updates_onroad': tr_noop(
-    "Please enable \"Always Offroad\" mode or turn off the vehicle to adjust these toggles."
-  )
-}
-
-
-class SoftwareLayoutSP(SoftwareLayout):
-  def __init__(self):
-    super().__init__()
-    self.disable_updates_toggle = toggle_item_sp(
-      lambda: tr("Disable Updates"),
-      description="",
-      initial_state=ui_state.params.get_bool("DisableUpdates"),
-      callback=self._on_disable_updates_toggled,
-    )
-    self._scroller.add_widget(self.disable_updates_toggle)
-
-  def _handle_reboot(self, result):
-    if result == DialogResult.CONFIRM:
-      ui_state.params.put_bool("DisableUpdates", self.disable_updates_toggle.action_item.get_state())
-      ui_state.params.put_bool("DoReboot", True)
-    else:
-      self.disable_updates_toggle.action_item.set_state(ui_state.params.get_bool("DisableUpdates"))
-
-  def _on_disable_updates_toggled(self, enabled):
-    dialog = ConfirmDialog(tr("System reboot required for changes to take effect. Reboot now?"), tr("Reboot"))
-    gui_app.set_modal_overlay(dialog, callback=self._handle_reboot)
-
-  def _on_select_branch(self):
-    current_git_branch = ui_state.params.get("GitBranch") or ""
-    branches_str = ui_state.params.get("UpdaterAvailableBranches") or ""
-    branches = [b for b in branches_str.split(",") if b]
-    current_target = ui_state.params.get("UpdaterTargetBranch") or ""
-    top_level_branches = [current_git_branch, "release-mici", "release-tizi", "staging", "dev", "master"]
-
-    if HARDWARE.get_device_type() == "tici":
-      top_level_branches = ["release-tici", "staging-tici"]
-      branches = [b for b in branches if b.endswith("-tici")]
-
-    top_level_nodes = [TreeNode(b, {'display_name': b}) for b in top_level_branches if b in branches]
-    remaining_branches = [b for b in branches if b not in top_level_branches]
-    prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if b.endswith("-prebuilt")]
-    non_prebuilt_nodes = [TreeNode(b, {'display_name': b}) for b in remaining_branches if not b.endswith("-prebuilt")]
-
-    folders = [
-      TreeFolder("", top_level_nodes),
-      TreeFolder("Prebuilt Branches", prebuilt_nodes),
-      TreeFolder("Non-Prebuilt Branches", non_prebuilt_nodes),
-    ]
-
-    def _on_branch_selected(result):
-      if result == DialogResult.CONFIRM and self._branch_dialog is not None:
-        selection = self._branch_dialog.selection_ref
-        if selection:
-          ui_state.params.put("UpdaterTargetBranch", selection)
-          self._branch_btn.action_item.set_value(selection)
-          os.system("pkill -SIGUSR1 -f system.updated.updated")
-      self._branch_dialog = None
-
-    self._branch_dialog = TreeOptionDialog(tr("Select a branch"), folders, current_target, "",
-                                           on_exit=_on_branch_selected)
-
-    gui_app.set_modal_overlay(self._branch_dialog, callback=_on_branch_selected)
-
-  def _update_state(self):
-    super()._update_state()
-    show_advanced = ui_state.params.get_bool("ShowAdvancedControls")
-    self.disable_updates_toggle.action_item.set_enabled(ui_state.is_offroad())
-    self.disable_updates_toggle.set_visible(show_advanced)
-
-    disable_updates_desc = tr(DESCRIPTIONS["disable_updates_offroad"] if ui_state.is_offroad() else DESCRIPTIONS["disable_updates_onroad"])
-    self.disable_updates_toggle.set_description(disable_updates_desc)
@@ -4,340 +4,27 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from cereal import custom
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.sunnypilot.widgets.sunnylink_pairing_dialog import SunnylinkPairingDialog
-from openpilot.system.ui.widgets.button import ButtonStyle, Button
-from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.list_view import button_item, dual_button_item
-from openpilot.system.ui.widgets.scroller_tici import Scroller, LineSeparator
-from openpilot.system.ui.widgets import Widget, DialogResult
-from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
-import pyray as rl
-
-if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
-
-
-class SunnylinkHeader(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._title = UnifiedLabel(
-      text="🚀 sunnylink 🚀",
-      font_size=90,
-      font_weight=FontWeight.AUDIOWIDE,
-      text_color=rl.WHITE,
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
-      wrap_text=False,
-      elide=False
-    )
-
-    self._description = UnifiedLabel(
-      text=tr("For secure backup, restore, and remote configuration"),
-      font_size=40,
-      font_weight=FontWeight.LIGHT,
-      text_color=rl.Color(0, 255, 0, 255),  # Green
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
-      wrap_text=True,
-      elide=False
-    )
-
-    self._sponsor_msg = UnifiedLabel(
-      text=tr("Sponsorship isn't required for basic backup/restore") + "\n" +
-           tr("Click the Sponsor button for more details"),
-      font_size=35,
-      font_weight=FontWeight.LIGHT,
-      text_color=rl.Color(255, 165, 0, 255),  # Orange
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
-      wrap_text=True,
-      elide=False
-    )
-
-    self._padding = 20
-    self._spacing = 10
-
-  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
-    super().set_parent_rect(parent_rect)
-
-    content_width = int(parent_rect.width - (self._padding * 2))
-
-    title_height = self._title.get_content_height(content_width)
-    desc_height = self._description.get_content_height(content_width)
-    sponsor_height = self._sponsor_msg.get_content_height(content_width)
-
-    total_height = (self._padding + title_height + self._spacing +
-                    desc_height + self._spacing + sponsor_height + self._padding)
-
-    self._rect.width = parent_rect.width
-    self._rect.height = total_height
-
-  def _render(self, rect: rl.Rectangle):
-    content_width = rect.width - (self._padding * 2)
-    current_y = rect.y + self._padding
-
-    # Render title
-    title_height = self._title.get_content_height(int(content_width))
-    title_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, title_height)
-    self._title.render(title_rect)
-    current_y += title_height + self._spacing
-
-    # Render description
-    desc_height = self._description.get_content_height(int(content_width))
-    desc_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, desc_height)
-    self._description.render(desc_rect)
-    current_y += desc_height + self._spacing
-
-    # Render sponsor message
-    sponsor_height = self._sponsor_msg.get_content_height(int(content_width))
-    sponsor_rect = rl.Rectangle(rect.x + self._padding, current_y, content_width, sponsor_height)
-    self._sponsor_msg.render(sponsor_rect)
-
-
-class SunnylinkDescriptionItem(Widget):
-  def __init__(self):
-    super().__init__()
-    self._description = UnifiedLabel(
-      text="",
-      font_size=40,
-      font_weight=FontWeight.LIGHT,
-      text_color=rl.WHITE,
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
-      wrap_text=True,
-      elide=False,
-    )
-    self._padding = 20
-
-  def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
-    super().set_parent_rect(parent_rect)
-    desc_height = self._description.get_content_height(int(parent_rect.width)) + self._padding * 2
-
-    self._rect.width = parent_rect.width
-    self._rect.height = desc_height
-
-  def set_text(self, text: str):
-    self._description.set_text(text)
-
-  def set_color(self, color: rl.Color):
-    self._description.set_text_color(color)
-
-  def _render(self, rect: rl.Rectangle):
-    content_width = rect.width - (self._padding * 2)
-
-    desc_height = self._description.get_content_height(int(content_width))
-    desc_rect = rl.Rectangle(rect.x + self._padding, rect.y, content_width, desc_height)
-    self._description.render(desc_rect)
+from openpilot.common.params import Params
+from openpilot.system.ui.widgets.scroller_tici import Scroller
+from openpilot.system.ui.widgets import Widget


 class SunnylinkLayout(Widget):
  def __init__(self):
    super().__init__()

-    self._sunnylink_pairing_dialog: SunnylinkPairingDialog | None = None
-    self._restore_in_progress = False
-    self._backup_in_progress = False
-    self._sunnylink_enabled = ui_state.params.get("SunnylinkEnabled")
-
+    self._params = Params()
    items = self._initialize_items()
-    self._scroller = Scroller(items, line_separator=False, spacing=0)
+    self._scroller = Scroller(items, line_separator=True, spacing=0)

  def _initialize_items(self):
-    self._sunnylink_toggle = toggle_item_sp(
-      title=tr("Enable sunnylink"),
-      description=tr("This is the master switch, it will allow you to cutoff any sunnylink requests should you want to do that."),
-      param="SunnylinkEnabled",
-      callback=self._sunnylink_toggle_callback
-    )
-
-    self._sunnylink_description = SunnylinkDescriptionItem()
-    self._sunnylink_description.set_visible(False)
-
-    self._sponsor_btn = button_item(
-      title=tr("Sponsor Status"),
-      button_text=tr("SPONSOR"),
-      description=tr(
-        "Become a sponsor of sunnypilot to get early access to sunnylink features when they become available."),
-      callback=lambda: self._handle_pair_btn(False)
-    )
-    self._pair_btn = button_item(
-      title=tr("Pair GitHub Account"),
-      button_text=tr("Not Paired"),
-      description=tr(
-        "Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink."),
-      callback=lambda: self._handle_pair_btn(True)
-    )
-    self._sunnylink_uploader_toggle = toggle_item_sp(
-      title=tr("Enable sunnylink uploader (infrastructure test)"),
-      description=tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. ") +
-                  tr("(Only for highest tiers, and does NOT bring ANY benefit to you yet. We are just testing data volume.)"),
-      param="EnableSunnylinkUploader"
-    )
-    self._sunnylink_backup_restore_buttons = dual_button_item(
-      description="",
-      left_text=tr("Backup Settings"),
-      right_text=tr("Restore Settings"),
-      left_callback=self._handle_backup_btn,
-      right_callback=self._handle_restore_btn
-    )
-    self._backup_btn: Button = self._sunnylink_backup_restore_buttons.action_item.left_button  # store for easy individual access
-    self._restore_btn: Button = self._sunnylink_backup_restore_buttons.action_item.right_button
-    self._backup_btn.set_button_style(ButtonStyle.NORMAL)
-    self._restore_btn.set_button_style(ButtonStyle.PRIMARY)
-
    items = [
-      SunnylinkHeader(),
-      LineSeparator(),
-      self._sunnylink_toggle,
-      self._sunnylink_description,
-      LineSeparator(),
-      self._sponsor_btn,
-      LineSeparator(),
-      self._pair_btn,
-      LineSeparator(),
-      self._sunnylink_uploader_toggle,
-      LineSeparator(),
-      self._sunnylink_backup_restore_buttons
+
    ]
    return items

-  @staticmethod
-  def _get_sunnylink_dongle_id() -> str | None:
-    return str(ui_state.params.get("SunnylinkDongleId") or (lambda: tr("N/A")))
-
-  def _handle_pair_btn(self, sponsor_pairing: bool = False):
-    sunnylink_dongle_id = self._get_sunnylink_dongle_id()
-    if sunnylink_dongle_id == UNREGISTERED_SUNNYLINK_DONGLE_ID:
-      gui_app.set_modal_overlay(alert_dialog(message=tr("sunnylink Dongle ID not found. ") +
-                                                     tr("This may be due to weak internet connection or sunnylink registration issue. ") +
-                                                     tr("Please reboot and try again.")))
-    elif not self._sunnylink_pairing_dialog:
-      self._sunnylink_pairing_dialog = SunnylinkPairingDialog(sponsor_pairing)
-      gui_app.set_modal_overlay(self._sunnylink_pairing_dialog, callback=lambda result: setattr(self, '_sunnylink_pairing_dialog', None))
-
-  def _handle_backup_btn(self):
-    backup_dialog = ConfirmDialog(text=tr("Are you sure you want to backup your current sunnypilot settings?"), confirm_text="Backup")
-    gui_app.set_modal_overlay(backup_dialog, callback=self._backup_handler)
-
-  def _handle_restore_btn(self):
-    self._restore_btn.set_enabled(False)
-    restore_dialog = ConfirmDialog(text=tr("Are you sure you want to restore the last backed up sunnypilot settings?"), confirm_text="Restore")
-    gui_app.set_modal_overlay(restore_dialog, callback=self._restore_handler)
-
-  def _backup_handler(self, dialog_result: int):
-    if dialog_result == DialogResult.CONFIRM:
-      self._backup_in_progress = True
-      self._backup_btn.set_enabled(False)
-      ui_state.params.put_bool("BackupManager_CreateBackup", True)
-
-  def _restore_handler(self, dialog_result: int):
-    if dialog_result == DialogResult.CONFIRM:
-      self._restore_in_progress = True
-      self._restore_btn.set_enabled(False)
-      ui_state.params.put("BackupManager_RestoreVersion", "latest")
-
-  def handle_backup_restore_progress(self):
-    sunnylink_backup_manager = ui_state.sm["backupManagerSP"]
-
-    backup_status = sunnylink_backup_manager.backupStatus
-    restore_status = sunnylink_backup_manager.restoreStatus
-    backup_progress = sunnylink_backup_manager.backupProgress
-    restore_progress = sunnylink_backup_manager.restoreProgress
-
-    if self._backup_in_progress:
-      self._restore_btn.set_enabled(False)
-      self._backup_btn.set_enabled(False)
-
-      if backup_status == custom.BackupManagerSP.Status.inProgress:
-        self._backup_in_progress = True
-        text = tr(f"Backing up {backup_progress}%")
-        self._backup_btn.set_text(text)
-
-      elif backup_status == custom.BackupManagerSP.Status.failed:
-        self._backup_in_progress = False
-        self._backup_btn.set_enabled(not ui_state.is_onroad())
-        self._backup_btn.set_text(tr("Backup Failed"))
-
-      elif (backup_status == custom.BackupManagerSP.Status.completed or
-            (backup_status == custom.BackupManagerSP.Status.idle and backup_progress == 100.0)):
-        self._backup_in_progress = False
-        dialog = alert_dialog(tr("Settings backup completed."))
-        gui_app.set_modal_overlay(dialog)
-        self._backup_btn.set_enabled(not ui_state.is_onroad())
-
-    elif self._restore_in_progress:
-      self._restore_btn.set_enabled(False)
-      self._backup_btn.set_enabled(False)
-
-      if restore_status == custom.BackupManagerSP.Status.inProgress:
-        self._restore_in_progress = True
-        text = tr(f"Restoring {restore_progress}%")
-        self._restore_btn.set_text(text)
-
-      elif restore_status == custom.BackupManagerSP.Status.failed:
-        self._restore_in_progress = False
-        self._restore_btn.set_enabled(not ui_state.is_onroad())
-        self._restore_btn.set_text(tr("Restore Failed"))
-        dialog = alert_dialog(tr("Unable to restore the settings, try again later."))
-        gui_app.set_modal_overlay(dialog)
-
-      elif (restore_status == custom.BackupManagerSP.Status.completed or
-            (restore_status == custom.BackupManagerSP.Status.idle and restore_progress == 100.0)):
-        self._restore_in_progress = False
-        dialog = alert_dialog(tr("Settings restored. Confirm to restart the interface."))
-        gui_app.set_modal_overlay(dialog, callback=lambda: gui_app.request_close())
-
-    else:
-      can_enable = self._sunnylink_enabled and not ui_state.is_onroad()
-      self._backup_btn.set_enabled(can_enable)
-      self._backup_btn.set_text(tr("Backup Settings"))
-      self._restore_btn.set_enabled(can_enable)
-      self._restore_btn.set_text(tr("Restore Settings"))
-
-  def _sunnylink_toggle_callback(self, state: bool):
-    if state:
-      description = tr(
-        "Welcome back!! We're excited to see you've enabled sunnylink again!")
-      color = rl.Color(0, 255, 0, 255)  # Green
-    else:
-      description = ("😢 " + tr("Not going to lie, it's sad to see you disabled sunnylink") +
-                     tr(", but we'll be here when you're ready to come back."))
-      color = rl.Color(255, 165, 0, 255)  # Orange
-    self._sunnylink_description.set_text(description)
-    self._sunnylink_description.set_color(color)
-    self._sunnylink_description.set_visible(True)
-    self._sunnylink_toggle.show_description(False)
-
-  def _update_state(self):
-    super()._update_state()
-    self._sunnylink_enabled = ui_state.params.get_bool("SunnylinkEnabled")
-    self._sunnylink_toggle.set_right_value(tr("Dongle ID") + ": " + self._get_sunnylink_dongle_id())
-    self._sunnylink_toggle.action_item.set_enabled(not ui_state.is_onroad())
-    self._sunnylink_toggle.action_item.set_state(self._sunnylink_enabled)
-    self._sunnylink_uploader_toggle.action_item.set_enabled(self._sunnylink_enabled)
-    self.handle_backup_restore_progress()
-
-    sponsor_btn_text = tr("THANKS ♥") if ui_state.sunnylink_state.is_sponsor() else tr("SPONSOR")
-    tier_name = ui_state.sunnylink_state.get_sponsor_tier().name.capitalize() or tr("Not Sponsor")
-    self._sponsor_btn.action_item.set_text(sponsor_btn_text)
-    self._sponsor_btn.action_item.set_value(tier_name, ui_state.sunnylink_state.get_sponsor_tier_color())
-    self._sponsor_btn.action_item.set_enabled(self._sunnylink_enabled)
-
-    pair_btn_text = tr("Paired") if ui_state.sunnylink_state.is_paired() else tr("Not Paired")
-    self._pair_btn.action_item.set_text(pair_btn_text)
-    self._pair_btn.action_item.set_enabled(self._sunnylink_enabled)
-
  def _render(self, rect):
    self._scroller.render(rect)

  def show_event(self):
-    super().show_event()
    self._scroller.show_event()
-    self._sunnylink_description.set_visible(False)
@@ -1,87 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
-
-#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
-
-AngleTunningSettings::AngleTunningSettings(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(50, 20, 50, 20);
-  main_layout->setSpacing(20);
-
-  // Back button
-  PanelBackButton *back = new PanelBackButton();
-  connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
-  main_layout->addWidget(back, 0, Qt::AlignLeft);
-
-  auto *list = new ListWidgetSP(this, false);
-
-  main_layout->addWidget(new QWidget());
-
-  enableHkgAngleSmoothingFactor = new ExpandableToggleRow("EnableHkgTuningAngleSmoothingFactor", tr("HKG Angle Smoothing Factor"), tr("Applies EMA (Exponential Moving Average) to the desired angle steering and avoid overcorrections."), "../assets/offroad/icon_blank.png");
-  list->addItem(enableHkgAngleSmoothingFactor);
-
-  auto first_row = new QHBoxLayout();
-  hkgTuningOverridingCycles = new OptionControlSP("HkgTuningOverridingCycles", tr("Override Ramp-Down Cycles"), tr("Number of cycles to ramp down the current amount of torque on the steering wheel.<br/>A smaller value means a faster override by the user (less effort)"), "../assets/offroad/icon_blank.png", {10, 30}, 1);
-  connect(hkgTuningOverridingCycles, &OptionControlSP::updateLabels, hkgTuningOverridingCycles, [=]() {
-    this->updateToggles(offroad);
-  });
-  first_row->addWidget(hkgTuningOverridingCycles);
-
-  hkgAngleMinTorque = new OptionControlSP("HkgTuningAngleMinTorqueReductionGain", tr("Override Steering Effort"), tr("Sets the steering effort percentage used when the driver is overriding lateral control.<br/>Higher values increase resistance and make the wheel feel stiffer."), "../assets/offroad/icon_blank.png", {5, 60}, 1);
-  connect(hkgAngleMinTorque, &OptionControlSP::updateLabels, hkgAngleMinTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  first_row->addWidget(hkgAngleMinTorque);
-  list->addItem(first_row);
-
-  auto second_row = new QHBoxLayout();
-  hkgAngleActiveTorque = new OptionControlSP("HkgTuningAngleActiveTorqueReductionGain", tr("Min Active Torque"), tr("Torque applied when lateral control is active but the vehicle is not turning.<br/>Used to maintain lane centering on straight paths when no user input is detected."), "../assets/offroad/icon_blank.png", {10, 100}, 1);
-  connect(hkgAngleActiveTorque, &OptionControlSP::updateLabels, hkgAngleActiveTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  second_row->addWidget(hkgAngleActiveTorque);
-
-  hkgAngleMaxTorque = new OptionControlSP("HkgTuningAngleMaxTorqueReductionGain", tr("Max Torque Allowance"), tr("Sets the maximum torque reduction percentage the controller can apply during normal lateral control.<br/>"), "../assets/offroad/icon_blank.png", {10, 100}, 1);
-  connect(hkgAngleMaxTorque, &OptionControlSP::updateLabels, hkgAngleMaxTorque, [=]() {
-    this->updateToggles(offroad);
-  });
-  second_row->addWidget(hkgAngleMaxTorque);
-  list->addItem(second_row);
-  
-  QObject::connect(uiState(), &UIState::offroadTransition, this, &AngleTunningSettings::updateToggles);
-
-  main_layout->addWidget(new ScrollViewSP(list, this));
-
-  auto *warning = new QLabel(tr("Reboot required for settings to apply; Tap on each setting to see more details."));
-  warning->setStyleSheet("font-size: 30px; font-weight: 500; font-family: 'Noto Color Emoji'; color: orange;");
-  main_layout->addWidget(warning, 0, Qt::AlignCenter);
-}
-
-void AngleTunningSettings::showEvent(QShowEvent *event) {
-  updateToggles(offroad);
-}
-
-void AngleTunningSettings::updateToggles(bool _offroad) {
-  auto HkgAngleSmoothingFactorValue = params.getBool("EnableHkgTuningAngleSmoothingFactor");
-  enableHkgAngleSmoothingFactor->toggleFlipped(HkgAngleSmoothingFactorValue);
-
-  auto HkgAngleMinTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMinTorqueReductionGain")).toInt();
-  hkgAngleMinTorque->setLabel(QString::number(HkgAngleMinTorqueValue)+"%");
-
-  auto HkgAngleActiveTorqueValue = QString::fromStdString(params.get("HkgTuningAngleActiveTorqueReductionGain")).toInt();
-  hkgAngleActiveTorque->setLabel(QString::number(HkgAngleActiveTorqueValue)+"%");
-
-  auto HkgAngleMaxTorqueValue = QString::fromStdString(params.get("HkgTuningAngleMaxTorqueReductionGain")).toInt();
-  hkgAngleMaxTorque->setLabel(QString::number(HkgAngleMaxTorqueValue)+"%");
-
-  auto HkgTuningOverridingCyclesValue = QString::fromStdString(params.get("HkgTuningOverridingCycles")).toInt();
-  hkgTuningOverridingCycles->setLabel(QString::number(HkgTuningOverridingCyclesValue));
-
-  offroad = _offroad;
-}
@@ -1,39 +0,0 @@
-/**
- * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
- *
- * This file is part of sunnypilot and is licensed under the MIT License.
- * See the LICENSE.md file in the root directory for more details.
- */
-
-#pragma once
-
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/sunnypilot/ui.h"
-#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
-#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
-
-class AngleTunningSettings : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit AngleTunningSettings(QWidget *parent = nullptr);
-
-  void showEvent(QShowEvent *event) override;
-
-signals:
-  void backPress();
-
-public slots:
-  void updateToggles(bool _offroad);
-
-private:
-  Params params;
-  bool offroad;
-
-  ExpandableToggleRow* enableHkgAngleSmoothingFactor;
-  OptionControlSP* hkgAngleMinTorque;
-  OptionControlSP* hkgAngleActiveTorque;
-  OptionControlSP* hkgAngleMaxTorque;
-  OptionControlSP* hkgTuningOverridingCycles;
-};
@@ -14,7 +14,7 @@ class UIStateSP:
    self.params = Params()
    self.sm_services_ext = [
      "modelManagerSP", "selfdriveStateSP", "longitudinalPlanSP", "backupManagerSP",
-      "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP", "liveDelay"
+      "gpsLocation", "liveTorqueParameters", "carStateSP", "liveMapDataSP", "carParamsSP"
    ]

    self.sunnylink_state = SunnylinkState()
@@ -369,7 +369,6 @@ def create_screenshots():
    with OpenpilotPrefix():
      params = Params()
      params.put("DongleId", "123456789012345")
-      params.put("SunnylinkDongleId", "123456789012345")

      # Set branch name
      params.put("UpdaterCurrentDescription", VERSION)
@@ -63,9 +63,6 @@ class ModelManagerSP:
            f.write(chunk)
            bytes_downloaded += len(chunk)

-            if not self.params.get("ModelManager_DownloadIndex"):
-              raise Exception("Download cancelled")
-
            if total_size > 0:
              progress = (bytes_downloaded / total_size) * 100
              model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
@@ -179,7 +176,6 @@ class ModelManagerSP:
              cloudlog.exception(e)
            finally:
              self.params.remove("ModelManager_DownloadIndex")
-              self.selected_bundle = None

        if self.params.get("ModelManager_ClearCache"):
            self.clear_model_cache()
@@ -8,13 +8,11 @@ from enum import IntEnum
 import threading
 import time
 import json
-import pyray as rl

 from cereal import messaging
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.sunnypilot.sunnylink.api import UNREGISTERED_SUNNYLINK_DONGLE_ID, SunnylinkApi
-from openpilot.system.ui.sunnypilot.lib.styles import style


 class RoleType(IntEnum):
@@ -203,19 +201,5 @@ class SunnylinkState:
    network_type = self._sm["deviceState"].networkType
    return bool(network_type != 0)

-  def get_sponsor_tier_color(self) -> rl.Color:
-    tier = self.get_sponsor_tier()
-
-    if tier == SponsorTier.GUARDIAN:
-      return rl.Color(255, 215, 0, 255)
-    elif tier == SponsorTier.BENEFACTOR:
-      return rl.Color(60, 179, 113, 255)
-    elif tier == SponsorTier.CONTRIBUTOR:
-      return rl.Color(70, 130, 180, 255)
-    elif tier == SponsorTier.SUPPORTER:
-      return rl.Color(147, 112, 219, 255)
-    else:
-      return style.ITEM_TEXT_VALUE_COLOR
-
  def __del__(self):
    self.stop()
@@ -94,7 +94,7 @@ class FontWeight(StrEnum):
  BOLD = "Inter-Bold.fnt"
  SEMI_BOLD = "Inter-SemiBold.fnt"
  UNIFONT = "unifont.fnt"
-  AUDIOWIDE = "Audiowide-Regular.fnt"
+  AUDIOWIDE = "Audiowide-Regular.ttf"

  # Small UI fonts
  DISPLAY_REGULAR = "Inter-Regular.fnt"
@@ -17,11 +17,8 @@ class Base:
  ITEM_TEXT_FONT_SIZE = 50
  ITEM_DESC_FONT_SIZE = 40
  ITEM_DESC_V_OFFSET = 150
-  ITEM_TEXT_VALUE_COLOR = rl.Color(170, 170, 170, 255)
  CLOSE_BTN_SIZE = 160

-  TEXT_PADDING = 20
-
  # Toggle Control
  TOGGLE_HEIGHT = 120
  TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75)
@@ -72,9 +69,6 @@ class DefaultStyleSP(Base):
  BUTTON_PRIMARY_COLOR = rl.Color(70, 91, 234, 255)  # Royal Blue
  BUTTON_NEUTRAL_GRAY = rl.Color(51, 51, 51, 255)
  BUTTON_DISABLED_BG_COLOR = rl.Color(30, 30, 30, 255)  # Very Dark Grey
-  TREE_DIALOG_TRANSPARENT = rl.Color(0, 0, 0, 0)
-  TREE_DIALOG_SEARCH_BUTTON_PRESSED = rl.Color(0x69, 0x68, 0x68, 0xFF)
-  TREE_DIALOG_SEARCH_BUTTON_BORDER = rl.Color(150, 150, 150, 200)

  # Vehicle Description Colors
  GREEN = rl.Color(0, 241, 0, 255)
@@ -8,12 +8,10 @@ from collections.abc import Callable

 import pyray as rl
 from openpilot.common.params import Params
-from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
+from openpilot.system.ui.lib.application import MousePos
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.sunnypilot.widgets.toggle import ToggleSP
-from openpilot.system.ui.widgets.label import gui_label
-from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, ButtonAction, \
-                                                  _resolve_value, BUTTON_WIDTH, BUTTON_HEIGHT, TEXT_PADDING
+from openpilot.system.ui.widgets.list_view import ListItem, ToggleAction, ItemAction, MultipleButtonAction, _resolve_value
 from openpilot.system.ui.sunnypilot.lib.styles import style
 from openpilot.system.ui.sunnypilot.widgets.option_control import OptionControlSP, LABEL_WIDTH

@@ -25,34 +23,6 @@ class ToggleActionSP(ToggleAction):
    self.toggle = ToggleSP(initial_state=initial_state, callback=callback, param=param)


-class ButtonActionSP(ButtonAction):
-  def __init__(self, text: str | Callable[[], str], width: int = style.BUTTON_WIDTH, enabled: bool | Callable[[], bool] = True):
-    super().__init__(text=text, width=width, enabled=enabled)
-    self._value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR
-
-  def set_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
-    self._value_source = value
-    self._value_color = color
-
-  def _render(self, rect: rl.Rectangle) -> bool:
-    """Duplicate of ButtonAction._render, with additional value rendering"""
-    self._button.set_text(self.text)
-    self._button.set_enabled(_resolve_value(self.enabled))
-    button_rect = rl.Rectangle(rect.x + rect.width - BUTTON_WIDTH, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT)
-    self._button.render(button_rect)
-
-    value_text = self.value
-    if value_text:
-      value_rect = rl.Rectangle(rect.x, rect.y, rect.width - BUTTON_WIDTH - TEXT_PADDING, rect.height)
-      gui_label(value_rect, value_text, font_size=style.ITEM_TEXT_FONT_SIZE, color=self._value_color,
-                font_weight=FontWeight.NORMAL, alignment=rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-                alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
-
-    pressed = self._pressed
-    self._pressed = False
-    return pressed
-
-
 class MultipleButtonActionSP(MultipleButtonAction):
  def __init__(self, buttons: list[str | Callable[[], str]], button_width: int, selected_index: int = 0, callback: Callable = None,
               param: str | None = None):
@@ -116,19 +86,6 @@ class ListItemSP(ListItem):
    self.inline = inline
    if not self.inline:
      self._rect.height += style.ITEM_BASE_HEIGHT/1.75
-    self._right_value_source: str | Callable[[], str] | None = None
-    self._right_value_font = gui_app.font(FontWeight.NORMAL)
-    self._right_value_color: rl.Color = style.ITEM_TEXT_VALUE_COLOR
-
-  def set_right_value(self, value: str | Callable[[], str], color: rl.Color = style.ITEM_TEXT_VALUE_COLOR):
-    self._right_value_source = value
-    self._right_value_color = color
-
-  @property
-  def right_value(self) -> str:
-    if self._right_value_source is None:
-      return ""
-    return str(_resolve_value(self._right_value_source, ""))

  def get_item_height(self, font: rl.Font, max_width: int) -> float:
    height = super().get_item_height(font, max_width)
@@ -158,19 +115,17 @@ class ListItemSP(ListItem):

      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, action_y, item_rect.width - (style.ITEM_PADDING * 2), style.BUTTON_HEIGHT)

-    right_width = self.action_item.get_width_hint()
+    right_width = self.action_item.rect.width
    if right_width == 0:
      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y, item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT)

-    content_width = item_rect.width - (style.ITEM_PADDING * 2)
-    title_width = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE).x
-    right_width = min(content_width - title_width, right_width)
+    action_width = self.action_item.rect.width
    if isinstance(self.action_item, ToggleAction):
      action_x = item_rect.x
    else:
-      action_x = item_rect.x + item_rect.width - right_width
+      action_x = item_rect.x + item_rect.width - action_width
    action_y = item_rect.y
-    return rl.Rectangle(action_x, action_y, right_width, style.ITEM_BASE_HEIGHT)
+    return rl.Rectangle(action_x, action_y, action_width, style.ITEM_BASE_HEIGHT)

  def _render(self, _):
    if not self.is_visible:
@@ -199,19 +154,6 @@ class ListItemSP(ListItem):
        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - self._text_size.y) // 2
        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, self.title_color)

-      value_text = self.right_value
-      if value_text:
-        # area from after the title to the right edge of the row
-        value_rect = rl.Rectangle(
-          text_x,  # start at the beginning of the text area
-          self._rect.y,
-          self._rect.width - (text_x - self._rect.x) - style.ITEM_PADDING,
-          style.ITEM_BASE_HEIGHT,
-        )
-        if value_rect.width > 0:
-          gui_label(value_rect, value_text, font_size=style.ITEM_TEXT_FONT_SIZE, color=self._right_value_color, font_weight=FontWeight.NORMAL,
-                    alignment=rl.GuiTextAlignment.TEXT_ALIGN_RIGHT, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
-
      # Render toggle and handle callback
      if self.action_item.render(left_rect) and self.action_item.enabled:
        if self.callback:
@@ -269,9 +211,3 @@ def option_item_sp(title: str | Callable[[], str], param: str,
    enabled, on_value_changed, value_map, label_width, use_float_scaling, label_callback
  )
  return ListItemSP(title=title, description=description, action_item=action, icon=icon)
-
-
-def button_item_sp(title: str | Callable[[], str], button_text: str | Callable[[], str], description: str | Callable[[], str] | None = None,
-                   callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItemSP:
-  action = ButtonActionSP(text=button_text, enabled=enabled)
-  return ListItemSP(title=title, description=description, action_item=action, callback=callback)
@@ -1,139 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import base64
-
-import pyray as rl
-from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.widgets.pairing_dialog import PairingDialog
-from openpilot.sunnypilot.sunnylink.api import SunnylinkApi, UNREGISTERED_SUNNYLINK_DONGLE_ID, API_HOST
-from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.lib.multilang import tr
-from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-
-
-class SunnylinkPairingDialog(PairingDialog):
-  """Dialog for device pairing with QR code."""
-
-  QR_REFRESH_INTERVAL = 300  # 5 minutes in seconds
-
-  def __init__(self, sponsor_pairing: bool = False):
-    PairingDialog.__init__(self)
-    self._sponsor_pairing = sponsor_pairing
-    self._is_paired_prev = ui_state.sunnylink_state.is_paired()
-
-  def _get_pairing_url(self) -> str:
-    qr_string = "https://github.com/sponsors/sunnyhaibin"
-
-    if self._sponsor_pairing:
-      try:
-        sl_dongle_id = self.params.get("SunnylinkDongleId") or UNREGISTERED_SUNNYLINK_DONGLE_ID
-        token = SunnylinkApi(sl_dongle_id).get_token()
-        inner_string = f"1|{sl_dongle_id}|{token}"
-        payload_bytes = base64.b64encode(inner_string.encode('utf-8')).decode('utf-8')
-        qr_string = f"{API_HOST}/sso?state={payload_bytes}"
-      except Exception:
-        cloudlog.exception("Failed to get pairing token")
-
-    return qr_string
-
-  def _update_state(self):
-    is_paired = ui_state.sunnylink_state.is_paired()
-    if not self._is_paired_prev and is_paired:
-      gui_app.set_modal_overlay(None)
-
-  def _render(self, rect: rl.Rectangle) -> int:
-    rl.clear_background(rl.Color(224, 224, 224, 255))
-
-    self._check_qr_refresh()
-
-    margin = 70
-    content_rect = rl.Rectangle(rect.x + margin, rect.y + margin, rect.width - 2 * margin, rect.height - 2 * margin)
-    y = content_rect.y
-
-    # Close button
-    close_size = 80
-    pad = 20
-    close_rect = rl.Rectangle(content_rect.x - pad, y - pad, close_size + pad * 2, close_size + pad * 2)
-    self._close_btn.render(close_rect)
-
-    y += close_size + 40
-
-    # Title
-    title = tr("Pair your GitHub account") if self._sponsor_pairing else tr("Early Access: Become a sunnypilot Sponsor")
-    title_font = gui_app.font(FontWeight.NORMAL)
-    left_width = int(content_rect.width * 0.5 - 15)
-
-    title_wrapped = wrap_text(title_font, title, 75, left_width)
-    rl.draw_text_ex(title_font, "\n".join(title_wrapped), rl.Vector2(content_rect.x, y), 75, 0.0, rl.BLACK)
-    y += len(title_wrapped) * 75 + 60
-
-    # Two columns: instructions and QR code
-    remaining_height = content_rect.height - (y - content_rect.y)
-    right_width = content_rect.width // 2 - 20
-
-    # Instructions
-    self._render_instructions(rl.Rectangle(content_rect.x, y, left_width, remaining_height))
-
-    # QR code
-    qr_size = min(right_width, content_rect.height) - 40
-    qr_x = content_rect.x + left_width + 40 + (right_width - qr_size) // 2
-    qr_y = content_rect.y
-    self._render_qr_code(rl.Rectangle(qr_x, qr_y, qr_size, qr_size))
-
-    return -1
-
-  def _render_instructions(self, rect: rl.Rectangle) -> None:
-    if self._sponsor_pairing:
-      instructions = [
-        tr("Scan the QR code to login to your GitHub account"),
-        tr("Follow the prompts to complete the pairing process"),
-        tr("Re-enter the \"sunnylink\" panel to verify sponsorship status"),
-        tr("If sponsorship status was not updated, please contact a moderator on the community forum at https://community.sunnypilot.ai")
-      ]
-    else:
-      instructions = [
-        tr("Scan the QR code to visit sunnyhaibin's GitHub Sponsors page"),
-        tr("Choose your sponsorship tier and confirm your support"),
-        tr("Join our Community Forum at https://community.sunnypilot.ai and reach out to a moderator if you have issues")
-      ]
-
-    font = gui_app.font(FontWeight.BOLD)
-    y = rect.y
-
-    for i, text in enumerate(instructions):
-      circle_radius = 25
-      circle_x = rect.x + circle_radius + 15
-      text_x = rect.x + circle_radius * 2 + 40
-      text_width = rect.width - (circle_radius * 2 + 40)
-
-      wrapped = wrap_text(font, text, 47, int(text_width))
-      text_height = len(wrapped) * 47
-      circle_y = y + text_height // 2
-
-      # Circle and number
-      rl.draw_circle(int(circle_x), int(circle_y), circle_radius, rl.Color(70, 70, 70, 255))
-      number = str(i + 1)
-      number_size = measure_text_cached(font, number, 30)
-      rl.draw_text_ex(font, number, (int(circle_x - number_size.x // 2), int(circle_y - number_size.y // 2)), 30, 0, rl.WHITE)
-
-      # Text
-      rl.draw_text_ex(font, "\n".join(wrapped), rl.Vector2(text_x, y), 47, 0.0, rl.BLACK)
-      y += text_height + 50
-
-
-if __name__ == "__main__":
-  gui_app.init_window("pairing device")
-  pairing = SunnylinkPairingDialog(sponsor_pairing=True)
-  try:
-    for _ in gui_app.render():
-      result = pairing.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
-      if result != -1:
-        break
-  finally:
-    del pairing
@@ -24,9 +24,6 @@ class ToggleSP(Toggle):
      initial_state = self.params.get_bool(self.param_key)
    Toggle.__init__(self, initial_state, callback)

-  def set_rect(self, rect: rl.Rectangle):
-    self._rect = rl.Rectangle(rect.x, rect.y, style.TOGGLE_WIDTH, style.TOGGLE_HEIGHT)
-
  def _handle_mouse_release(self, mouse_pos: MousePos):
    super()._handle_mouse_release(mouse_pos)
    if self._enabled and self.param_key:
@@ -78,7 +78,7 @@ class TreeItemWidget(Button):
 class TreeOptionDialog(MultiOptionDialog):
  def __init__(self, title, folders, current_ref="", fav_param="", option_font_weight=FontWeight.MEDIUM, search_prompt=None,
               get_folders_fn=None, on_exit=None, display_func=None, search_funcs=None, search_title=None, search_subtitle=None):
-    super().__init__(title, [], current_ref, option_font_weight)
+    super().__init__(title, [], "", option_font_weight)
    self.folders = folders
    self.selection_ref = current_ref
    self.fav_param = fav_param
@@ -99,24 +99,6 @@ class TreeOptionDialog(MultiOptionDialog):
    self.search_title = search_title or tr("Enter search query")
    self.search_subtitle = search_subtitle
    self.search_dialog = None
-    self._search_pressed = False
-
-    self.selection_node = None
-    # Try to match by ref, by display text, or fall back to "Default" when no ref is set
-    for folder in self.folders:
-      for node in folder.nodes:
-        display = self.display_func(node)
-        if (
-          node.ref == current_ref or
-          display == current_ref or
-          (not current_ref and node.ref == "Default")
-        ):
-          self.selection = display
-          self.current = display
-          self.selection_node = node
-          break
-      if self.selection_node is not None:
-        break

    self._build_visible_items()

@@ -159,17 +141,6 @@ class TreeOptionDialog(MultiOptionDialog):

  def _build_visible_items(self, reset_scroll=True):
    self.visible_items = []
-
-    # Pinned selected item at the very top (if any)
-    if getattr(self, "selection_node", None) is not None:
-      node = self.selection_node
-      display = self.display_func(node)
-      self.selection = self.current = display
-      favorite_cb = (lambda node_ref=node: self._toggle_favorite(node_ref)) if self.fav_param and node.ref != "Default" else None
-      self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 0,
-                                               lambda node_ref=node: self._select_node(node_ref),
-                                               favorite_cb, node.ref in self.favorites, is_expanded=True))
-
    for folder in self.folders:
      nodes = [node for node in folder.nodes if not self.query or search_from_list(self.query, [search_func(node) for search_func in self.search_funcs])]
      if not nodes and self.query:
@@ -180,15 +151,10 @@ class TreeOptionDialog(MultiOptionDialog):
                                                 lambda folder_ref=folder: self._toggle_folder(folder_ref)))
      if expanded:
        for node in nodes:
-          # Skip duplicate root-level item for the selected node
-          if self.selection_node is not None and node.ref == self.selection_node.ref and not folder.folder:
-            continue
-
          favorite_cb = (lambda node_ref=node: self._toggle_favorite(node_ref)) if self.fav_param and node.ref != "Default" else None
          self.visible_items.append(TreeItemWidget(self.display_func(node), node.ref, False, 1 if folder.folder else 0,
                                                   lambda node_ref=node: self._select_node(node_ref),
                                                   favorite_cb, node.ref in self.favorites, is_expanded=expanded))
-
    self.option_buttons = self.visible_items
    self.options = [item.text for item in self.visible_items]
    self.scroller._items = self.visible_items
@@ -217,10 +183,9 @@ class TreeOptionDialog(MultiOptionDialog):
    input_rect = rl.Rectangle(self._search_rect.x + inset, self._search_rect.y + inset,
                              self._search_rect.width - inset * 2, self._search_rect.height - inset * 2)

-    # Transparent fill (unpressed), white fill (pressed), border
-    fill_color = style.TREE_DIALOG_SEARCH_BUTTON_PRESSED if self._search_pressed else style.TREE_DIALOG_TRANSPARENT
-    rl.draw_rectangle_rounded(input_rect, roundness, 10, fill_color)
-    rl.draw_rectangle_rounded_lines_ex(input_rect, roundness, 10, 3, style.TREE_DIALOG_SEARCH_BUTTON_BORDER)
+    # Transparent fill + border
+    rl.draw_rectangle_rounded(input_rect, roundness, 10, rl.Color(0, 0, 0, 0))
+    rl.draw_rectangle_rounded_lines_ex(input_rect, roundness, 10, 3, rl.Color(150, 150, 150, 200))

    # Magnifying glass icon
    icon_color = rl.Color(180, 180, 180, 240)
@@ -268,21 +233,8 @@ class TreeOptionDialog(MultiOptionDialog):

    return self._result

-  def _handle_mouse_press(self, mouse_pos):
-    if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect):
-      self._search_pressed = True
-      return True
-    return super()._handle_mouse_press(mouse_pos)
-
  def _handle_mouse_release(self, mouse_pos):
-    clicked_search = False
    if self._search_rect and rl.check_collision_point_rec(mouse_pos, self._search_rect):
-      clicked_search = self._search_pressed
-
-    self._search_pressed = False
-
-    if clicked_search:
      self._on_search_clicked()
      return True
-
    return super()._handle_mouse_release(mouse_pos)
@@ -16,7 +16,6 @@ from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.widgets.list_view import ButtonAction, ListItem, MultipleButtonAction, ToggleAction, button_item, text_item

 if gui_app.sunnypilot_ui():
-  from openpilot.system.ui.sunnypilot.widgets.list_view import button_item_sp as button_item
  from openpilot.system.ui.sunnypilot.widgets.list_view import ListItemSP as ListItem
  from openpilot.system.ui.sunnypilot.widgets.list_view import ToggleActionSP as ToggleAction
  from openpilot.system.ui.sunnypilot.widgets.list_view import MultipleButtonActionSP as MultipleButtonAction
@@ -24,8 +24,6 @@ SP_BRANCH_MIGRATIONS = {
  ("tizi", "staging-c3-new"): "staging",
  ("tizi", "dev-c3-new"): "dev",
  ("tizi", "master-dev-c3-new"): "master-dev",
-  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
-  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }

 BUILD_METADATA_FILENAME = "build.json"
@@ -1,183 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget parent="main_window" name="Main Window">
-  <Tab containers="1" tab_name="actuator data">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.100000" left="301.990881" top="0.100000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carControl/actuators/torque" color="#17becf"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-130.920132" left="301.990881" top="103.993176" right="462.962504"/>
-       <limitY/>
-       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.604818" left="301.990881" top="24.797527" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.037812" left="301.990881" top="0.047261" right="462.962504"/>
-       <limitY/>
-       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab containers="1" tab_name="steering messages (CAN)">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.142857;0.142857;0.142857;0.142857;0.142857;0.142857;0.142857" count="7">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-128.740000" left="301.990881" top="103.940000" right="462.962504"/>
-       <limitY/>
-       <curve name="/can/128/LKAS_ALT/ADAS_StrAnglReqVal" color="#29d627"/>
-       <curve name="/can/192/LKAS_ALT/ADAS_StrAnglReqVal" color="#b41f32"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/steeringPressed" color="#d62728"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/sendcan/0/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/steerFaultTemporary" color="#d62728"/>
-       <curve name="/carControl/latActive" color="#1ac938"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-14.375000" left="301.990881" top="589.375000" right="462.962504"/>
-       <limitY/>
-       <curve name="/pandaStates/0/safetyTxBlocked" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab containers="1" tab_name="Understanding Torque">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-6.175000" left="429.901019" top="253.175000" right="590.696728"/>
-       <limitY/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-24.190000" left="301.990881" top="21.590000" right="462.962504"/>
-       <limitY/>
-       <curve name="/carState/steeringTorqueEps" color="#1ac938"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab containers="1" tab_name="tab2">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/sendcan/0/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#9467bd"/>
-       <curve name="/can/1/LFA_ALT/ADAS_ACIAnglTqRedcGainVal" color="#17becf"/>
-       <curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
-       <curve name="/can/192/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#d62728"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
-       <range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/can/128/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#b8c91a"/>
-       <curve name="/can/192/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#ff7f0e"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
-       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
-       <limitY/>
-       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
-       <curve name="/carState/steerFaultTemporary" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
-       <range bottom="-14.375000" left="301.990881" top="589.375000" right="462.962504"/>
-       <limitY/>
-       <curve name="/pandaStates/0/safetyTxBlocked" color="#bcbd22"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <currentTabIndex index="3"/>
- </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <Plugins>
-  <plugin ID="DataLoad CSV">
-   <default time_axis="" delimiter="0"/>
-  </plugin>
-  <plugin ID="DataLoad MCAP"/>
-  <plugin ID="DataLoad Rlog"/>
-  <plugin ID="DataLoad ULog"/>
-  <plugin ID="Cereal Subscriber"/>
-  <plugin ID="UDP Server"/>
-  <plugin ID="WebSocket Server"/>
-  <plugin ID="ZMQ Subscriber"/>
-  <plugin ID="Fast Fourier Transform"/>
-  <plugin ID="Quaternion to RPY"/>
-  <plugin ID="Reactive Script Editor">
-   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
-   <scripts/>
-  </plugin>
-  <plugin ID="CSV Exporter"/>
- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations/>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
@@ -1,636 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget name="Main Window" parent="main_window">
-  <Tab tab_name="actuator data" containers="1">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-0.100000" left="6.467547" top="0.100000"/>
-       <limitY/>
-       <curve name="/carControl/actuators/torque" color="#17becf"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-356.587494" left="6.467547" top="491.287506"/>
-       <limitY/>
-       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-0.856228" left="6.467547" top="35.834527"/>
-       <limitY/>
-       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-0.186684" left="6.467547" top="0.134230"/>
-       <limitY/>
-       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="steering messages (CAN)" containers="1">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-0.022000" left="6.467547" top="0.902000"/>
-       <limitY/>
-       <curve name="/sendcan/0/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-5.168301" left="6.467547" top="4.590794"/>
-       <limitY/>
-       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#ff7f0e"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-0.025000" left="6.467547" top="1.025000"/>
-       <limitY/>
-       <curve name="/carState/steeringPressed" color="#d62728"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-0.100000" left="6.467547" top="0.100000"/>
-       <limitY/>
-       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="Understanding Torque" containers="1">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="722.420439" bottom="-6.250000" left="0.000000" top="256.250000"/>
-       <limitY/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-34.457500" left="6.467547" top="26.757499"/>
-       <limitY/>
-       <curve name="/carState/steeringTorqueEps" color="#1ac938"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="Angle Error and Saturation TQ" containers="1">
-   <Container>
-    <DockSplitter orientation="-" sizes="0.200218;0.200218;0.199129;0.200218;0.200218" count="5">
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-356.587494" left="6.467547" top="491.287506"/>
-       <limitY/>
-       <curve name="/carControl/actuators/steeringAngleDeg" color="#d62728"/>
-       <curve name="/carState/steeringAngleDeg" color="#1ac938"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-134.196237" left="6.467547" top="34.112077"/>
-       <limitY/>
-       <curve name="Angle Error" color="#ff7f0e"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-0.022000" left="6.467547" top="0.902000"/>
-       <limitY/>
-       <curve name="/sendcan/0/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-0.025000" left="6.467547" top="1.025000"/>
-       <limitY/>
-       <curve name="Angle Staturation" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" mode="TimeSeries" flip_x="false" flip_y="false">
-       <range right="396.045059" bottom="-0.025000" left="6.467547" top="1.025000"/>
-       <limitY/>
-       <curve name="/carControl/latActive" color="#9467bd"/>
-       <curve name="/carState/steeringPressed" color="#17becf"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <currentTabIndex index="3"/>
- </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <Plugins>
-  <plugin ID="DataLoad CSV">
-   <default time_axis="" delimiter="0"/>
-  </plugin>
-  <plugin ID="DataLoad MCAP"/>
-  <plugin ID="DataLoad Rlog"/>
-  <plugin ID="DataLoad ULog"/>
-  <plugin ID="Cereal Subscriber"/>
-  <plugin ID="UDP Server"/>
-  <plugin ID="WebSocket Server"/>
-  <plugin ID="ZMQ Subscriber"/>
-  <plugin ID="Fast Fourier Transform"/>
-  <plugin ID="Quaternion to RPY"/>
-  <plugin ID="Reactive Script Editor">
-   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
-   <scripts/>
-  </plugin>
-  <plugin ID="CSV Exporter"/>
- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <previouslyLoaded_Datafiles>
-  <fileInfo filename="../tmpgh9xhmjb.rlog" prefix="">
-   <selected_datasources value=""/>
-  </fileInfo>
- </previouslyLoaded_Datafiles>
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="Angle Staturation">
-   <global></global>
-   <function>if value > .3 then 
-    return 1
-end
-
-return 0</function>
-   <linked_source>Angle Error</linked_source>
-  </snippet>
-  <snippet name="ang_cmd rate">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
-  <snippet name="max torque lj adj">
-   <global>min=0
-max=250
-max_from_speed=96
-
-k1=200
-k2=30
-k3=1    
-k4=1
-k5=10
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end</global>
-   <function>return 250 - value * 20</function>
-   <linked_source>desired lateral jark</linked_source>
-  </snippet>
-  <snippet name="max torque(calc)">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>la = apply_deadzone(v2, la_deadzone)
-lj = v3
-
-if la == 0.0 then
-    lj = 0.0
-end
-
-fla = math.min(math.abs(k1 * la)^k3, max)
-flj = math.min(math.abs(k2 * lj)^k4, max)
-
-out = fla
-
-flv = math.min(max_from_speed, k5 * v4)
-
-out = out + flv
-
-out = math.max(math.min(out, max), min)
-
-if sign(la) == sign(lj) then
-    out = out - flj
-else
-    out = out + flj
-end
-
-
-if v5 == 1.0 then
-    out = 0.0
-end
-
-out = math.max(math.min(out, max), min)
-out = apply_rate_limit(old, out, rate_lim)
-old = out
-
-return out</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-   <additional_sources>
-    <v1>ang_cmd rate</v1>
-    <v2>desired lat accel</v2>
-    <v3>desired lateral jark</v3>
-    <v4>/carState/vEgo</v4>
-    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
-   </additional_sources>
-  </snippet>
-  <snippet name="carState.vEgo mph">
-   <global></global>
-   <function>return value * 2.23694</function>
-   <linked_source>/carState/vEgo</linked_source>
-  </snippet>
-  <snippet name="abs(des la accel)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="roll compensated lateral acceleration">
-   <global></global>
-   <function>if (v3 == 0 and v4 == 1) then
-  return  (value * v1 ^ 2) - (v2 * 9.81)
-end
-return 0</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-    <v3>/carState/steeringPressed</v3>
-    <v4>/carControl/latActive</v4>
-   </additional_sources>
-  </snippet>
-  <snippet name="Zero">
-   <global></global>
-   <function>return (0)</function>
-   <linked_source>/carState/canValid</linked_source>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="desired lat accel">
-   <global></global>
-   <function>return value * v1^2</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="engaged_accel_actuator">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>accel = value
-brake = v1
-gas = v2
-enabled = v3
-
-if (brake ~= 0 or gas ~= 0 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/carControl/actuators/accel</linked_source>
-   <additional_sources>
-    <v1>/carState/brakePressed</v1>
-    <v2>/carState/gasPressed</v2>
-    <v3>/carControl/enabled</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="Angle Error">
-   <global>last_angle_requested = 0</global>
-   <function>angle_error = last_angle_requested - v1
-
-
-last_angle_requested = value
-return angle_error</function>
-   <linked_source>/carControl/actuators/steeringAngleDeg</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringAngleDeg</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="carState.vEgo kmh">
-   <global></global>
-   <function>return value * 3.6</function>
-   <linked_source>/carState/vEgo</linked_source>
-  </snippet>
-  <snippet name="engaged_accel_plan">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>accel = value
-brake = v1
-gas = v2
-enabled = v3
-
-if (brake ~= 0 or gas ~= 0 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/longitudinalPlan/accels/0</linked_source>
-   <additional_sources>
-    <v1>/carState/brakePressed</v1>
-    <v2>/carState/gasPressed</v2>
-    <v3>/carControl/enabled</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="engaged_accel_actual">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>accel = value
-brake = v1
-gas = v2
-enabled = v3
-
-if (brake ~= 0 or gas ~= 0 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/carState/aEgo</linked_source>
-   <additional_sources>
-    <v1>/carState/brakePressed</v1>
-    <v2>/carState/gasPressed</v2>
-    <v3>/carControl/enabled</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="desired lateral jark">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="engaged curvature plan">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>curvature = value
-pressed = v1
-enabled = v2
-
-if (pressed == 1 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/lateralPlan/curvatures/0</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/enabled</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="abs(ang_cmd)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
-  <snippet name="zero">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>return 0</function>
-   <linked_source>/carState/aEgo</linked_source>
-  </snippet>
-  <snippet name="engaged curvature vehicle model">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>curvature = value
-pressed = v1
-enabled = v2
-
-if (pressed == 1 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return value
-else
-  return 0
-end</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/enabled</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  (value * -9.8) - (v3 * 9.81)
-end
--return 0
-  return  (value * -9.8) - (v3 * 9.81)</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-    <v3>/liveParameters/roll</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^2">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  value * -9.8
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="engaged curvature yaw">
-   <global>engage_delay = 5
-last_bad_time = -engage_delay</global>
-   <function>curvature = value / v3
-pressed = v1
-enabled = v2
-
-if (pressed == 1 or enabled == 0) then
-  last_bad_time = time
-end
-
-if (time > last_bad_time + engage_delay) then
-  return curvature
-else
-  return 0
-end</function>
-   <linked_source>/liveLocationKalman/angularVelocityCalibrated/value/2</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/enabled</v2>
-    <v3>/liveLocationKalman/velocityCalibrated/value/0</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^3">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="Desired lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
@@ -1,281 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget name="Main Window" parent="main_window">
-  <Tab containers="1" tab_name="tab1">
-   <Container>
-    <DockSplitter sizes="0.500397;0.499603" count="2" orientation="-">
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
-       <range top="256.250000" left="0.000000" right="421.102293" bottom="-6.250000"/>
-       <limitY/>
-       <curve color="#1ac938" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
-       <curve color="#17becf" name="max torque(calc)">
-        <transform name="Moving Average" alias="max torque(calc)[Moving Average]">
-         <options compensate_offset="true" value="10"/>
-        </transform>
-       </curve>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
-       <range top="2.776497" left="0.000000" right="421.102293" bottom="-2.918548"/>
-       <limitY/>
-       <curve color="#f14cc1" name="desired lat accel"/>
-       <curve color="#888888" name="zero"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <currentTabIndex index="0"/>
- </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <Plugins>
-  <plugin ID="DataLoad CSV">
-   <default time_axis="" delimiter="0"/>
-  </plugin>
-  <plugin ID="DataLoad MCAP"/>
-  <plugin ID="DataLoad Rlog"/>
-  <plugin ID="DataLoad ULog"/>
-  <plugin ID="Cereal Subscriber"/>
-  <plugin ID="UDP Server"/>
-  <plugin ID="WebSocket Server"/>
-  <plugin ID="ZMQ Subscriber"/>
-  <plugin ID="Fast Fourier Transform"/>
-  <plugin ID="Quaternion to RPY"/>
-  <plugin ID="Reactive Script Editor">
-   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
-   <scripts/>
-  </plugin>
-  <plugin ID="CSV Exporter"/>
- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <previouslyLoaded_Datafiles>
-  <fileInfo prefix="" filename="../tmpa_e8kwpj.rlog">
-   <selected_datasources value=""/>
-  </fileInfo>
- </previouslyLoaded_Datafiles>
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="zero">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>return 0</function>
-   <linked_source>/carState/aEgo</linked_source>
-  </snippet>
-  <snippet name="max torque lj adj">
-   <global>min=0
-max=250
-max_from_speed=96
-
-k1=200
-k2=30
-k3=1    
-k4=1
-k5=10
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end</global>
-   <function>return 250 - value * 20</function>
-   <linked_source>desired lateral jark</linked_source>
-  </snippet>
-  <snippet name="ang_cmd rate">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
-  <snippet name="max torque(calc)">
-   <global>min=0
-max=250
-max_from_speed=96
-
-rate_lim = 500
-
-la_deadzone = 0.38
-
-k1=200
-k2=20
-k3=1.0
-k4=1
-k5=10
-
-old = 0
-
-function sign(number)
-    return number > 0 and 1 or (number == 0 and 0 or -1)
-end
-
-function apply_rate_limit(old, new, limit)
-    return math.min(math.max(new, old - limit), old + limit)
-end
-
-function apply_deadzone(val, deadzone)
-    if math.abs(val) &lt;= deadzone then
-        return 0.0
-    elseif val &lt; 0.0 then
-        return val + deadzone
-    else
-        return val - deadzone
-    end
-end</global>
-   <function>la = apply_deadzone(v2, la_deadzone)
-lj = v3
-
-if la == 0.0 then
-    lj = 0.0
-end
-
-fla = math.min(math.abs(k1 * la)^k3, max)
-flj = math.min(math.abs(k2 * lj)^k4, max)
-
-out = fla
-
-flv = math.min(max_from_speed, k5 * v4)
-
-out = out + flv
-
-out = math.max(math.min(out, max), min)
-
-if sign(la) == sign(lj) then
-    out = out - flj
-else
-    out = out + flj
-end
-
-
-if v5 == 1.0 then
-    out = 0.0
-end
-
-out = math.max(math.min(out, max), min)
-out = apply_rate_limit(old, out, rate_lim)
-old = out
-
-return out</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-   <additional_sources>
-    <v1>ang_cmd rate</v1>
-    <v2>desired lat accel</v2>
-    <v3>desired lateral jark</v3>
-    <v4>/carState/vEgo</v4>
-    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
-   </additional_sources>
-  </snippet>
-  <snippet name="desired lateral jark">
-   <global>firstX = 0
-firstY = 0
-is_first = true
-secondX = 0
-secondY = 0
-is_second = false</global>
-   <function>-- Wait for initial values
-if (is_first) then
-  is_first = false
-  is_second = true
-  firstX = time
-  firstY = value
-end
-
-if (is_second) then
-  is_second = false
-  secondX = time
-  secondY = value
-end
-
-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
-dx = time - firstX
-dy = value - firstY
-- Increment
-firstX = secondX
-firstY = secondY
-secondX = time
-secondY = value
-
-return dy/dx</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="abs(des la accel)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>desired lat accel</linked_source>
-  </snippet>
-  <snippet name="desired lat accel">
-   <global></global>
-   <function>return value * v1^2</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-   </additional_sources>
-  </snippet>
-  <snippet name="abs(ang_cmd)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-
@@ -1,175 +0,0 @@
-<?xml version='1.0' encoding='UTF-8'?>
-<root>
- <tabbed_widget parent="main_window" name="Main Window">
-  <Tab tab_name="tab1" containers="1">
-   <Container>
-    <DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-3.582051" right="1431.113121" top="5.314632" left="5.322399"/>
-       <limitY/>
-       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
-       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
-       <curve name="IMU_LatAccelVal_ms^2" color="#f14cc1"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-3.741271" right="1431.113121" top="3.756006" left="5.322399"/>
-       <limitY/>
-       <curve name="roll compensated lateral acceleration" color="#ff7f0e"/>
-       <curve name="IMU_LatAccelVal_Ms^2" color="#1ac938"/>
-       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#9467bd"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-0.025000" right="1431.113121" top="1.025000" left="5.322399"/>
-       <limitY/>
-       <curve name="/carState/steeringPressed" color="#0097ff"/>
-       <curve name="/carOutput/actuatorsOutput/torque" color="#d62728"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-1.660728" right="1431.113121" top="67.942958" left="5.322399"/>
-       <limitY/>
-       <curve name="/carState/vEgo" color="#f14cc1">
-        <transform name="Scale/Offset" alias="/carState/vEgo[Scale/Offset]">
-         <options value_scale="2.23694" time_offset="0" value_offset="0"/>
-        </transform>
-       </curve>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <Tab tab_name="tab2" containers="1">
-   <Container>
-    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="30595.900000" right="1431.113121" top="34884.100000" left="5.322399"/>
-       <limitY/>
-       <curve name="/can/1/IMU_01_10ms/IMU_RollRtVal" color="#17becf"/>
-      </plot>
-     </DockArea>
-     <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range bottom="-0.058795" right="1431.113121" top="0.072448" left="5.322399"/>
-       <limitY/>
-       <curve name="/liveParameters/roll" color="#bcbd22"/>
-      </plot>
-     </DockArea>
-    </DockSplitter>
-   </Container>
-  </Tab>
-  <currentTabIndex index="1"/>
- </tabbed_widget>
- <use_relative_time_offset enabled="1"/>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <Plugins>
-  <plugin ID="DataLoad CSV">
-   <default time_axis="" delimiter="0"/>
-  </plugin>
-  <plugin ID="DataLoad MCAP"/>
-  <plugin ID="DataLoad Rlog"/>
-  <plugin ID="DataLoad ULog"/>
-  <plugin ID="Cereal Subscriber"/>
-  <plugin ID="UDP Server"/>
-  <plugin ID="WebSocket Server"/>
-  <plugin ID="ZMQ Subscriber"/>
-  <plugin ID="Fast Fourier Transform"/>
-  <plugin ID="Quaternion to RPY"/>
-  <plugin ID="Reactive Script Editor">
-   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
-   <scripts/>
-  </plugin>
-  <plugin ID="CSV Exporter"/>
- </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
- <customMathEquations>
-  <snippet name="IMU_LatAccelVal_ms^2">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="roll compensated lateral acceleration">
-   <global></global>
-   <function>if (v3 == 0 and v4 == 1) then
-  return  (value * v1 ^ 2) - (v2 * 9.81)
-end
-return 0</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-    <v3>/carState/steeringPressed</v3>
-    <v4>/carControl/latActive</v4>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^2">
-   <global></global>
-   <function>if (v1 == 0 and v2 == 1) then
-  return  value * -9.8
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_Ms^3">
-   <global></global>
-   <function>return  value * -9.8</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
-   <global></global>
-   <function>
-
-if (v1 == 0 and v2 == 1) then
-  return  (value * -9.8) - (v3 * 9.81)
-end
-return 0</function>
-   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
-   <additional_sources>
-    <v1>/carState/steeringPressed</v1>
-    <v2>/carControl/latActive</v2>
-    <v3>/liveParameters/roll</v3>
-   </additional_sources>
-  </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
-  <snippet name="Desired lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
-  </snippet>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-