Merge remote-tracking branch 'origin/master-tici' into hkg-angle-steering-2025-tici

# Conflicts:
#	.github/workflows/sunnypilot-build-prebuilt.yaml
#	.github/workflows/sunnypilot-master-dev-prep.yaml
#	system/version.py

.codespellignore

@@ -2,4 +2,5 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF

.github/workflows/auto_pr_review.yaml

@@ -29,21 +29,21 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master$).*/
+        target: /^(?!master-tici$).*/
         exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
+        already-exists-comment: "Your PR should be made against the `master-tici` branch"
 
   update-pr-labels:
     name: Update fork's PR Labels
     runs-on: ubuntu-latest
     if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
     env:
-      PR_LABEL: 'dev'
+      PR_LABEL: 'dev-c3'
       TRUST_FORK_PR_LABEL: 'trust-fork-pr'
     steps:
-      - name: Check if PR has dev label
+      - name: Check if PR has dev-c3 label
         id: check-labels
         uses: actions/github-script@v7
         with:
@@ -62,11 +62,11 @@ jobs:
             console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
             console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
             
-            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
+            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
             core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
 
       - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
         uses: actions/github-script@v7
         with:
           github-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/badges.yaml

@@ -5,7 +5,7 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
   DOCKER_REGISTRY: ghcr.io/sunnypilot
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 

.github/workflows/cereal_validation.yaml

@@ -3,7 +3,7 @@ name: cereal validation
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request:
     paths:
       - 'cereal/**'
@@ -16,7 +16,7 @@ on:
         type: string
 
 concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:

.github/workflows/ci_weekly_report.yaml

@@ -31,7 +31,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master-tici
     with:
       run_number: ${{ matrix.run_number }}
 

.github/workflows/ci_weekly_run.yaml

@@ -12,6 +12,6 @@ concurrency:
 
 jobs:
   selfdrive_tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master
+    uses: sunnypilot/sunnypilot/.github/workflows/selfdrive_tests.yaml@master-tici
     with:
       run_number: ${{ inputs.run_number }}

.github/workflows/compile-openpilot/action.yaml

@@ -15,7 +15,7 @@ runs:
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
       with:
         path: .ci_cache/scons_cache
         key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/docs.yaml

@@ -3,7 +3,7 @@ name: docs
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request:
   workflow_call:
     inputs:
@@ -12,7 +12,7 @@ on:
         required: true
         type: string
 concurrency:
-  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 jobs:
@@ -35,13 +35,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
         repository: sunnypilot/sunnypilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         set -x
 

.github/workflows/prebuilt.yaml

@@ -24,11 +24,11 @@ jobs:
       if: ${{ github.event_name != 'workflow_dispatch' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
-        ref: master
+        ref: master-tici
         wait-interval: 30
         running-workflow-name: 'build prebuilt'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
-        check-regexp: ^((?!.*(build master-ci).*).)*$
+        check-regexp: ^((?!.*(build __nightly).*).)*$
     - uses: actions/checkout@v4
       with:
         submodules: true

.github/workflows/release-drafter.yml

@@ -19,6 +19,7 @@ jobs:
       contents: write
       pull-requests: write
     runs-on: ubuntu-latest
+    if: False
     steps:
       - uses: release-drafter/release-drafter@v6
         with:

.github/workflows/release.yaml

@@ -10,7 +10,7 @@ jobs:
     env:
       ImageOS: ubuntu24
     container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
     runs-on: ubuntu-latest
     if: github.repository == 'sunnypilot/sunnypilot'
     permissions:
@@ -25,7 +25,7 @@ jobs:
       if: ${{ github.event_name == 'schedule' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
-        ref: master
+        ref: master-tici
         wait-interval: 30
         running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/repo-maintenance.yaml

@@ -6,7 +6,7 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
   BUILD: release/ci/docker_build_sp.sh base
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
@@ -28,7 +28,7 @@ jobs:
           title: "[bot] Update translations"
           body: "Automatic PR from repo-maintenance -> update_translations"
           branch: "update-translations"
-          base: "master"
+          base: "master-tici"
           delete-branch: true
           labels: bot
 
@@ -36,7 +36,7 @@ jobs:
     name: package_updates
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/sunnypilot/sunnypilot-tici-base:latest
     if: github.repository == 'sunnypilot/sunnypilot'
     steps:
     - uses: actions/checkout@v4
@@ -68,7 +68,7 @@ jobs:
         commit-message: Update Python packages
         title: '[bot] Update Python packages'
         branch: auto-package-updates
-        base: master
+        base: master-tici
         delete-branch: true
         body: 'Automatic PR from repo-maintenance -> package_updates'
         labels: bot

.github/workflows/selfdrive_tests.yaml

@@ -3,7 +3,7 @@ name: selfdrive
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request:
   workflow_dispatch:
   workflow_call:
@@ -14,12 +14,12 @@ on:
         type: string
 
 concurrency:
-  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
   PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: sunnypilot-tici-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -68,10 +68,10 @@ jobs:
       if: github.repository == 'sunnypilot/sunnypilot'
       timeout-minutes: 3
       run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
+        if [ "${{ github.ref }}" != "refs/heads/master-tici" ]; then
+          git fetch  origin master-tici:refs/remotes/origin/master-tici
 
-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
+          SUBMODULE_PATHS=$(git diff origin/master-tici HEAD --name-only | grep -E '^[^/]+$' | while read path; do
             if git ls-files --stage "$path" | grep -q "^160000"; then
               echo "$path"
             fi
@@ -97,7 +97,7 @@ jobs:
       with:
         submodules: true
     - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master-tici' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
@@ -129,7 +129,7 @@ jobs:
         PYTHONWARNINGS: default
     - name: Save Homebrew cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
       with:
         path: ~/Library/Caches/Homebrew
         key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -146,7 +146,7 @@ jobs:
       run: . .venv/bin/activate && scons -j$(nproc)
     - name: Save scons cache
       uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
+      if: github.ref == 'refs/heads/master-tici'
       with:
         path: /tmp/scons_cache
         key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
@@ -305,5 +305,5 @@ jobs:
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          name: report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/report_1/screenshots

.github/workflows/sunnypilot-build-model.yaml

@@ -14,7 +14,7 @@ on:
       upstream_branch:
         description: 'Upstream branch to build from'
         required: true
-        default: 'master'
+        default: 'master-tici'
         type: string
       custom_name:
         description: 'Custom name for the model (no date, only name)'
@@ -35,7 +35,7 @@ on:
       upstream_branch:
         description: 'Upstream branch to build from'
         required: true
-        default: 'master'
+        default: 'master-tici'
         type: string
       custom_name:
         description: 'Custom name for the model (no date, only name)'

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -8,14 +8,14 @@ env:
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
   
   # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
+  STAGING_C3_SOURCE_BRANCH: 'master-tici' # vars.STAGING_C3_SOURCE_BRANCH could be used, set on repo settings.
   
   # Runtime configuration
   SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
 on:
   push:
-    branches: [ master, master-dev ]
+    branches: [ master-tici ]
     tags: [ 'release/*' ]
   pull_request_target:
     types: [ labeled ]
@@ -138,7 +138,7 @@ jobs:
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Set environment variables

.github/workflows/sunnypilot-master-dev-prep.yaml

@@ -1,31 +1,31 @@
-name: Build dev
+name: Build dev-c3-new
 
 env:
-  DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev"
-  PR_LABEL: "dev"
+  DEFAULT_SOURCE_BRANCH: "master-tici"
+  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
+  PR_LABEL: "dev-c3"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request_target:
     types: [ labeled ]
     branches:
-      - 'master'
+      - 'master-tici'
   workflow_dispatch:
     inputs:
       source_branch:
         description: 'Source branch to reset from'
         required: true
-        default: 'master'
+        default: 'master-tici'
         type: string
       target_branch:
         description: 'Target branch to reset and squash into'
         required: true
-        default: 'master-dev'
+        default: 'master-dev-c3-new'
         type: string
       cancel_in_progress:
         description: 'Cancel any in-progress runs of this workflow'
@@ -40,11 +40,7 @@ concurrency:
 jobs:
   reset-and-squash:
     runs-on: ubuntu-latest
-    if: (
-      (github.event_name == 'workflow_dispatch')
-      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
-      )
+    if: False
     steps:
       - uses: actions/checkout@v4
         with:
@@ -55,7 +51,7 @@ jobs:
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
           (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev'))))
+          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
           )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor

.github/workflows/ui_preview.yaml

@@ -2,19 +2,19 @@ name: "ui preview"
 on:
   push:
     branches:
-      - master
+      - master-tici
   pull_request_target:
     types: [assigned, opened, synchronize, reopened, edited]
     branches:
-      - 'master'
+      - 'master-tici'
     paths:
       - 'selfdrive/ui/**'
   workflow_dispatch:
 
 env:
   UI_JOB_NAME: "Create UI Report"
-  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
-  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && 'master-tici' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master-tici' && github.sha || github.event.pull_request.head.sha }}
   BRANCH_NAME: "openpilot/pr-${{ github.event.number }}"
 
 jobs:
@@ -55,7 +55,7 @@ jobs:
           name: report-1-${{ env.REPORT_NAME }}
           path: ${{ github.workspace }}/pr_ui
 
-      - name: Getting master ui
+      - name: Getting master-tici ui
         uses: actions/checkout@v4
         with:
           repository: sunnypilot/ci-artifacts
@@ -63,8 +63,8 @@ jobs:
           path: ${{ github.workspace }}/master_ui
           ref: openpilot_master_ui
 
-      - name: Saving new master ui
-        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+      - name: Saving new master-tici ui
+        if: github.ref == 'refs/heads/master-tici' && github.event_name == 'push'
         working-directory: ${{ github.workspace }}/master_ui
         run: |
           git checkout --orphan=new_master_ui
@@ -93,9 +93,9 @@ jobs:
 
           for ((i=0; i<${#A[*]}; i=i+1));
           do
-            # Check if the master file exists
+            # Check if the master-tici file exists
             if [ ! -f "${{ github.workspace }}/master_ui/${A[$i]}.png" ]; then
-              # This is a new file in PR UI that doesn't exist in master
+              # This is a new file in PR UI that doesn't exist in master-tici
               DIFF="${DIFF}<details open>"
               DIFF="${DIFF}<summary>${A[$i]} : \$\${\\color{cyan}\\text{NEW}}\$\$</summary>"
               DIFF="${DIFF}<table>"
@@ -118,7 +118,7 @@ jobs:
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> master-tici <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
               DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 

.idea/customTargets.xml

@@ -21,5 +21,12 @@
         </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

@@ -20,4 +20,11 @@
       <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="sunnypilot" 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="openpilot-special" 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

@@ -0,0 +1,27 @@
+<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

@@ -0,0 +1,7 @@
+<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

@@ -0,0 +1,7 @@
+<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>

Dockerfile.sunnypilot

@@ -1,4 +1,4 @@
-FROM ghcr.io/sunnypilot/sunnypilot-base:latest
+FROM ghcr.io/sunnypilot/sunnypilot-tici-base:latest
 
 ENV PYTHONUNBUFFERED=1
 

README.md

@@ -22,7 +22,7 @@ https://docs.sunnypilot.ai/ is your one stop shop for everything from features t
 Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
 
 ## Installation
-Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-c3-new` branch.
+Please refer to [Recommended Branches](#-recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging-tici` branch.
 
 ### If you want to use our newest branches (our rewrite)
 > [!TIP]
@@ -31,25 +31,24 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 * sunnypilot not installed or you installed a version before 0.8.17?
   1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
   2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-c3-new.sunnypilot.ai```.
+  3. Input the installation URL per [Recommended Branches](#-recommended-branches). Example: ```https://staging-tici.sunnypilot.ai```.
   4. Complete the rest of the installation following the onscreen instructions.
 
 * sunnypilot already installed and you installed a version after 0.8.17?
   1. On the comma three, go to `Settings` ▶️ `Software`.
   2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
   3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-c3-new`
+  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging-tici`
 
 
-|      Branch      |                 Installation URL              |
-|:----------------:|:---------------------------------------------:|
-| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
-|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
-| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
-| `release-c3-new` |            **Not yet available**.             |
+|     Branch      |               Installation URL                |
+|:---------------:|:---------------------------------------------:|
+| `staging-tici`  |     `https://staging-tici.sunnypilot.ai`      |
+| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-tici`  |            **Not yet available**.             |
 
 > [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-c3-new'.
+> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging-tici'.
 
 > [!NOTE]
 > Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.

common/params_keys.h

@@ -223,4 +223,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OsmStateTitle", {PERSISTENT, STRING}},
     {"OsmWayTest", {PERSISTENT, STRING}},
     {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
+
+    // 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"}},
 };

release/ci/docker_common_sp.sh

@@ -1,8 +1,8 @@
 if [ "$1" = "base" ]; then
-  export DOCKER_IMAGE=sunnypilot-base
+  export DOCKER_IMAGE=sunnypilot-tici-base
   export DOCKER_FILE=Dockerfile.sunnypilot_base
 elif [ "$1" = "prebuilt" ]; then
-  export DOCKER_IMAGE=sunnypilot-prebuilt
+  export DOCKER_IMAGE=sunnypilot-tici-prebuilt
   export DOCKER_FILE=Dockerfile.sunnypilot
 else
   echo "Invalid docker build image: '$1'"

release/ci/squash_and_merge_prs.py

@@ -14,7 +14,7 @@ def setup_argument_parser():
   parser.add_argument('--pr-data', type=str, help='PR data in JSON format')
   parser.add_argument('--source-branch', type=str, default='master',
                       help='Source branch for merging')
-  parser.add_argument('--target-branch', type=str, default='master-dev-test',
+  parser.add_argument('--target-branch', type=str, default='master-dev-c3-new-test',
                       help='Target branch for merging')
   parser.add_argument('--squash-script-path', type=str, required=True,
                       help='Path to the squash_and_merge.py script')

scripts/lint/lint.sh

@@ -13,7 +13,7 @@ cd $ROOT
 
 FAILED=0
 
-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
+IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md|layouts\/.*\.xml|.*\.ipynb"
 IGNORED_DIRS="^third_party.*|^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {

selfdrive/controls/lib/latcontrol_angle_torque.py

@@ -0,0 +1,13 @@
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+
+
+class LatControlAngleTorque(LatControlTorque, LatControlAngle):
+  def __init__(self, CP, CP_SP, CI):
+    LatControlTorque.__init__(self, CP, CP_SP, CI)
+    LatControlAngle.__init__(self, CP, CP_SP, CI)
+
+  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+    torque, _, _ = LatControlTorque.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
+    _, angle, angle_log = LatControlAngle.update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited)
+    return torque, angle, angle_log

selfdrive/ui/sunnypilot/SConscript

@@ -49,6 +49,7 @@ lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]
 

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc

@@ -0,0 +1,87 @@
+/**
+ * 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;
+}

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h

@@ -0,0 +1,39 @@
+/**
+ * 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;
+};

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc

@@ -89,6 +89,36 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
     nnlcToggle->updateToggle();
   });
 
+#pragma region hkg angle tuning
+  list->addItem(vertical_space());
+  list->addItem(horizontal_line());
+  list->addItem(vertical_space());
+
+  // HKG Angle Tuning
+  // angleTuningToggle = new ParamControl(
+  //   "AngleTuning",
+  //   tr("Modular Assistive Driving System (MADS)"),
+  //   tr("Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement."),
+  //   "");
+  // angleTuningToggle->setConfirmation(true, false);
+  // list->addItem(angleTuningToggle);
+
+  angleTuningSettingsButton = new PushButtonSP(tr("Customize ANGLE Tuning"));
+  angleTuningSettingsButton->setObjectName("angle_btn");
+  connect(angleTuningSettingsButton, &QPushButton::clicked, [=]() {
+    sunnypilotScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(angleTuningWidget);
+  });
+  // QObject::connect(angleTuningToggle, &ToggleControl::toggleFlipped, angleTuningSettingsButton, &PushButtonSP::setEnabled);
+
+  angleTuningWidget = new AngleTunningSettings(this);
+  connect(angleTuningWidget, &AngleTunningSettings::backPress, [=]() {
+    sunnypilotScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+  list->addItem(angleTuningSettingsButton);
+#pragma endregion
+
   toggleOffroadOnly = {
     madsToggle, nnlcToggle,
   };
@@ -99,6 +129,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
+  main_layout->addWidget(angleTuningWidget);
   main_layout->addWidget(laneChangeWidget);
 
   setStyleSheet(R"(
@@ -149,6 +180,7 @@ void LateralPanel::updateToggles(bool _offroad) {
   }
 
   madsSettingsButton->setEnabled(madsToggle->isToggled());
+  // angleTuningSettingsButton->setEnabled(angleTuningToggle->isToggled());
 
   blinkerPauseLateralSettings->refresh();
 

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h

@@ -13,6 +13,7 @@
 #include "selfdrive/ui/sunnypilot/ui.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
 #include "selfdrive/ui/qt/util.h"
@@ -39,8 +40,11 @@ private:
   bool offroad;
 
   ParamControl *madsToggle;
+  // ParamControl *angleTuningToggle;
   PushButtonSP *madsSettingsButton;
+  PushButtonSP *angleTuningSettingsButton;
   MadsSettings *madsWidget = nullptr;
+  AngleTunningSettings *angleTuningWidget = nullptr;
   PushButtonSP *laneChangeSettingsButton;
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;

system/version.py

@@ -10,8 +10,8 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.git import get_commit, get_origin, get_branch, get_short_branch, get_commit_date
 
-RELEASE_SP_BRANCHES = ['release-c3', 'release']
-TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
+RELEASE_SP_BRANCHES = ['release-c3']
+TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging-tici']
 MASTER_SP_BRANCHES = ['master']
 RELEASE_BRANCHES = ['release3-staging', 'release3', 'release-tici', 'nightly'] + RELEASE_SP_BRANCHES
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging', 'nightly-dev'] + TESTED_SP_BRANCHES
@@ -21,9 +21,8 @@ SP_BRANCH_MIGRATIONS = {
   ("tici", "dev-c3-new"): "staging-tici",
   ("tici", "master"): "master-tici",
   ("tici", "master-dev-c3-new"): "master-tici",
-  ("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"
@@ -134,7 +133,7 @@ class BuildMetadata:
 
   @property
   def development_channel(self) -> bool:
-    return self.channel == "dev" or self.channel.startswith("dev-") or self.channel.endswith("-prebuilt")
+    return self.channel.startswith("dev-") or self.channel.endswith("-prebuilt")
 
   @property
   def channel_type(self) -> str:
@@ -142,11 +141,11 @@ class BuildMetadata:
       return "tici"
     elif self.development_channel:
       return "development"
-    elif self.tested_channel:
+    elif self.channel.startswith("staging-"):
       return "staging"
     elif self.master_channel:
       return "master"
-    elif self.release_channel:
+    elif self.tested_channel:
       return "release"
     else:
       return "feature"

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

@@ -0,0 +1,183 @@
+<?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>
+

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

@@ -0,0 +1,636 @@
+<?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>
+

tools/plotjuggler/layouts/hkg_angle_control.xml

@@ -0,0 +1,281 @@
+<?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>
+

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

@@ -0,0 +1,175 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
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+    <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">
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+       <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"/>
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+       <curve name="IMU_LatAccelVal_Ms^2" color="#1ac938"/>
+       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#9467bd"/>
+      </plot>
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+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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+       <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">
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+       <limitY/>
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+   <Container>
+    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
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+       <range bottom="-0.058795" right="1431.113121" top="0.072448" left="5.322399"/>
+       <limitY/>
+       <curve name="/liveParameters/roll" color="#bcbd22"/>
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+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <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>
+