Merge branch 'master' into developer-panel-external-storage

* ui: reset Enforce Torque Control and NNLC if both are enabled

* block

.codespellignore

@@ -2,6 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
-indeces
 FOF
 NoO

.idea/customTargets.xml

@@ -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>

.idea/tools/External Tools.xml

@@ -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>

.run/Build Debug.run.xml

@@ -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>

.run/Debug Route Controls.run.xml

@@ -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>

.run/Replay for controls + ui.run.xml

@@ -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>

.run/replay for controls.run.xml

@@ -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>

pyproject.toml

@@ -226,7 +226,6 @@ exclude = [
   "teleoprtc/",
   "teleoprtc_repo/",
   "third_party/",
-  "**/*.ipynb",
 ]
 
 [tool.ty.rules]

scripts/lint/lint.sh

@@ -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="^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*|^third_party.*"
 
 function run() {

selfdrive/ui/sunnypilot/layouts/settings/developer.py

@@ -20,6 +20,7 @@ from openpilot.system.ui.widgets.list_view import button_item
 
 from openpilot.system.ui.sunnypilot.widgets.html_render import HtmlModalSP
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp
+from openpilot.selfdrive.ui.sunnypilot.layouts.settings.external_storage import external_storage_item
 
 PREBUILT_PATH = os.path.join(Paths.comma_home(), "prebuilt") if PC else "/data/openpilot/prebuilt"
 
@@ -52,7 +53,11 @@ class DeveloperLayoutSP(DeveloperLayout):
 
     self.error_log_btn = button_item(tr("Error Log"), tr("VIEW"), tr("View the error log for sunnypilot crashes."), callback=self._on_error_log_clicked)
 
-    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle, self.error_log_btn,]
+    self.external_storage = external_storage_item(tr("External Storage"), description=tr("Extend your comma device's storage by inserting a USB drive " +
+                                                                                         "into the aux port."))
+
+    self.items: list = [self.show_advanced_controls, self.enable_github_runner_toggle, self.enable_copyparty_toggle, self.prebuilt_toggle,
+                        self.external_storage, self.error_log_btn,]
 
   @staticmethod
   def _on_prebuilt_toggled(state):

selfdrive/ui/sunnypilot/layouts/settings/external_storage.py

@@ -0,0 +1,261 @@
+"""
+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 pyray as rl
+import threading
+import subprocess
+import copy
+from enum import Enum
+from collections.abc import Callable
+
+from openpilot.common.params import Params
+from openpilot.system.hardware import PC
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.multilang import tr, tr_noop
+from openpilot.system.ui.widgets import DialogResult
+from openpilot.system.ui.widgets.button import Button, ButtonStyle
+from openpilot.system.ui.widgets.confirm_dialog import alert_dialog, ConfirmDialog
+from openpilot.system.ui.widgets.list_view import (
+  ItemAction,
+  ListItem,
+  BUTTON_HEIGHT,
+  BUTTON_BORDER_RADIUS,
+  BUTTON_FONT_SIZE,
+  BUTTON_WIDTH,
+)
+
+VALUE_FONT_SIZE = 48
+
+
+class ExternalStorageState(Enum):
+  DISABLED = tr_noop("DISABLED")
+  LOADING = tr_noop("LOADING")
+  CHECK = tr_noop("CHECK")
+  MOUNT = tr_noop("MOUNT")
+  UNMOUNT = tr_noop("UNMOUNT")
+  FORMAT = tr_noop("FORMAT")
+
+
+class ExternalStorageAction(ItemAction):
+  MAX_WIDTH = 500
+
+  def __init__(self):
+    super().__init__(self.MAX_WIDTH, True)
+
+    self._params = Params()
+    self._error_message = ""
+    self._text_font = gui_app.font(FontWeight.NORMAL)
+
+    self._button = Button(
+      "",
+      click_callback=self._handle_button_click,
+      button_style=ButtonStyle.LIST_ACTION,
+      border_radius=BUTTON_BORDER_RADIUS,
+      font_size=BUTTON_FONT_SIZE,
+    )
+
+    self._value_text = ""
+    self._formatting = False
+    self._refresh_pending = False
+
+    self._state = ExternalStorageState.CHECK
+    self._refresh_state()
+    self.refresh()
+
+  def set_touch_valid_callback(self, callback):
+    def wrapped():
+      if self._state == ExternalStorageState.DISABLED:
+        return False
+      return callback()
+    super().set_touch_valid_callback(wrapped)
+    self._button.set_touch_valid_callback(wrapped)
+
+  def _run(self, cmd: str) -> bool:
+    return subprocess.call(["sh", "-c", cmd]) == 0
+
+  def _run_output(self, cmd: str) -> str:
+    try:
+      out = subprocess.check_output(["sh", "-c", cmd], universal_newlines=True)
+      return out.strip()
+    except Exception:
+      return ""
+
+  def _render(self, rect: rl.Rectangle) -> bool:
+    if self._error_message:
+      msg = copy.copy(self._error_message)
+      gui_app.set_modal_overlay(alert_dialog(msg))
+      self._error_message = ""
+
+    if self._value_text:
+      text_size = measure_text_cached(self._text_font, self._value_text, VALUE_FONT_SIZE)
+      rl.draw_text_ex(
+        self._text_font,
+        self._value_text,
+        (rect.x + rect.width - BUTTON_WIDTH - text_size.x - 30,
+         rect.y + (rect.height - text_size.y) / 2),
+        VALUE_FONT_SIZE,
+        1.0,
+        rl.Color(170, 170, 170, 255),
+      )
+
+    button_rect = rl.Rectangle(
+      rect.x + rect.width - BUTTON_WIDTH,
+      rect.y + (rect.height - BUTTON_HEIGHT) / 2,
+      BUTTON_WIDTH,
+      BUTTON_HEIGHT
+    )
+    self._button.set_rect(button_rect)
+    self._button.set_text(tr(self._state.value))
+    self._button.set_enabled(self._state not in (ExternalStorageState.LOADING,
+                                                 ExternalStorageState.DISABLED))
+    self._button.render(button_rect)
+    return False
+
+  def _refresh_state(self):
+    if PC:
+      self._state = ExternalStorageState.DISABLED
+      self._button.set_enabled(False)
+      self._value_text = ""
+
+  def debounced_refresh(self):
+    if self._refresh_pending:
+      return
+    self._refresh_pending = True
+
+    def _timer():
+      import time
+      time.sleep(0.25)
+      self._refresh_pending = False
+      self.refresh()
+
+    threading.Thread(target=_timer, daemon=True).start()
+
+  def refresh(self):
+    def _work():
+      is_mounted = self._run("findmnt -n /mnt/external_realdata")
+      has_drive = self._run("lsblk -f /dev/sdg")
+      has_fs = self._run("lsblk -f /dev/sdg1 | grep -q ext4")
+      has_label = self._run("blkid /dev/sdg1 | grep -q 'LABEL=\"openpilot\"'")
+
+      info = ""
+      if is_mounted and has_label:
+        info = self._run_output(
+          "df -h /mnt/external_realdata | awk 'NR==2 {print $3 \"/\" $2}'"
+        )
+
+      def apply():
+        if self._formatting:
+          self._value_text = tr("formatting")
+          self._state = ExternalStorageState.FORMAT
+          return
+
+        if not has_drive:
+          self._value_text = tr("insert drive")
+          self._state = ExternalStorageState.CHECK
+
+        elif not has_fs or not has_label:
+          self._value_text = tr("needs format")
+          self._state = ExternalStorageState.FORMAT
+
+        elif is_mounted:
+          self._value_text = info
+          self._state = ExternalStorageState.UNMOUNT
+
+        else:
+          self._value_text = tr("drive detected")
+          self._state = ExternalStorageState.MOUNT
+
+      apply()
+
+    threading.Thread(target=_work, daemon=True).start()
+
+  def _handle_button_click(self):
+    st = self._state
+
+    if st == ExternalStorageState.DISABLED:
+      return
+
+    if st in (ExternalStorageState.CHECK, ExternalStorageState.MOUNT):
+      self.mount_storage()
+
+    elif st == ExternalStorageState.UNMOUNT:
+      self.unmount_storage()
+
+    elif st == ExternalStorageState.FORMAT:
+      dialog = ConfirmDialog(
+          tr("Are you sure you want to format this drive? This will erase all data."),
+          confirm_text=tr("Format"),
+          cancel_text=tr("Cancel"),
+        )
+      gui_app.set_modal_overlay(dialog, callback=self._confirm_format)
+
+  def _confirm_format(self, result: DialogResult):
+    if result == DialogResult.CONFIRM:
+      self.format_storage()
+
+  def mount_storage(self):
+    self._value_text = tr("mounting")
+    self._state = ExternalStorageState.LOADING
+
+    def _work():
+      cmd = """
+        sudo mount -o remount,rw / &&
+        sudo mkdir -p /mnt/external_realdata &&
+        (grep -q '/dev/sdg1 /mnt/external_realdata' /etc/fstab ||
+         echo '/dev/sdg1 /mnt/external_realdata ext4 defaults,nofail 0 2' >> /etc/fstab) &&
+        sudo systemctl daemon-reexec &&
+        sudo mount /mnt/external_realdata &&
+        sudo chown -R comma:comma /mnt/external_realdata &&
+        sudo chmod -R 775 /mnt/external_realdata &&
+        sudo mount -o remount,ro /
+      """
+      subprocess.call(["sh", "-c", cmd])
+      self.debounced_refresh()
+
+    threading.Thread(target=_work, daemon=True).start()
+
+  def unmount_storage(self):
+    self._value_text = tr("unmounting")
+    self._state = ExternalStorageState.LOADING
+
+    def _work():
+      subprocess.call(["sh", "-c", "sudo umount /mnt/external_realdata"])
+      self.debounced_refresh()
+
+    threading.Thread(target=_work, daemon=True).start()
+
+  def format_storage(self):
+    self._formatting = True
+    self._value_text = tr("formatting")
+    self._state = ExternalStorageState.LOADING
+
+    def _work():
+      cmd = """
+        sudo wipefs -a /dev/sdg &&
+        sudo parted -s /dev/sdg mklabel gpt mkpart primary ext4 0% 100% &&
+        sudo mkfs.ext4 -F -L openpilot /dev/sdg1
+      """
+      exitcode = subprocess.call(["sh", "-c", cmd])
+
+      def apply():
+        self._formatting = False
+        if exitcode == 0:
+          self.mount_storage()
+        else:
+          self._value_text = tr("needs format")
+          self._state = ExternalStorageState.FORMAT
+
+      apply()
+
+    threading.Thread(target=_work, daemon=True).start()
+
+def external_storage_item(title: str | Callable[[], str], description: str | Callable[[], str]) -> ListItem:
+  return ListItem(
+    title=title,
+    description=description,
+    action_item=ExternalStorageAction()
+  )

selfdrive/ui/sunnypilot/layouts/settings/steering.py

@@ -134,6 +134,11 @@ class SteeringLayout(Widget):
 
     enforce_torque_enabled = self._torque_control_toggle.action_item.get_state()
     nnlc_enabled = self._nnlc_toggle.action_item.get_state()
+    if enforce_torque_enabled and nnlc_enabled:
+      self._torque_control_toggle.action_item.set_state(False)
+      self._nnlc_toggle.action_item.set_state(False)
+      enforce_torque_enabled = False
+      nnlc_enabled = False
     self._nnlc_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not enforce_torque_enabled)
     self._torque_control_toggle.action_item.set_enabled(ui_state.is_offroad() and torque_allowed and not nnlc_enabled)
     self._torque_customization_button.action_item.set_enabled(self._torque_control_toggle.action_item.get_state())

selfdrive/ui/sunnypilot/ui_state.py

@@ -179,6 +179,10 @@ class UIStateSP:
     CP = self.CP
 
     if CP is not None:
+      if self.params.get_bool("EnforceTorqueControl") and self.params.get_bool("NeuralNetworkLateralControl"):
+        self.params.put_bool("EnforceTorqueControl", False, block=True)
+        self.params.put_bool("NeuralNetworkLateralControl", False, block=True)
+
       # Angle steering: no torque-based lateral controls
       if CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.params.remove("EnforceTorqueControl")

system/version.py

@@ -28,8 +28,6 @@ SP_BRANCH_MIGRATIONS = {
   ("tizi", "release3-staging"): "release-tizi-staging",
   ("mici", "release3"): "release-mici",
   ("mici", "release3-staging"): "release-mici-staging",
-  ("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"

tools/plotjuggler/layouts/analyzing-panda-block-angle-hkg.xml

@@ -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/>
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tools/plotjuggler/layouts/analyzing-torque-angle-hkg.xml

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- <customMathEquations>
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-   <global></global>
-   <function>if v1 == 0 then
-    return 0
-end
-
-if value &lt; 8.5 then 
-    return 1
-elseif value &lt; 11 then
-    return 2
-elseif value &lt;= 13.8 then
-    return 3
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-    return 4
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-   <additional_sources>
-    <v1>/carControl/latActive</v1>
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-    return 0
-end
-
-if value &lt; 20 then 
-    return 1
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-    return 2
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-    return 3
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-   <additional_sources>
-    <v1>/carControl/latActive</v1>
-   </additional_sources>
-  </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="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="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">
-   <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^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="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="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="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="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="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="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="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="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="abs(des la accel)">
-   <global></global>
-   <function>return math.abs(value)</function>
-   <linked_source>desired lat accel</linked_source>
-  </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>
-  <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="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="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>
- </customMathEquations>
- <snippets/>
- <!-- - - - - - - - - - - - - - - -->
-</root>
-

tools/plotjuggler/layouts/hkg_angle_control.xml

@@ -1,274 +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>
- <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>
-

tools/plotjuggler/layouts/safety-limits-angle-kkg.xml

@@ -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>
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