Merge branch 'sync-20251114' into hkg-angle-steering-2025-sync-20251114

2026-08-21 20:03:46 +08:00 · 2025-11-15 01:53:09 -05:00 · 2025-11-15 01:51:58 -05:00 · 2025-11-15 01:44:05 -05:00 · 2025-11-14 13:32:32 -05:00 · 2025-11-14 13:32:01 -05:00
43 changed files with 3794 additions and 1736 deletions
@@ -2,5 +2,6 @@ Wen
 REGIST
 PullRequest
 cancelled
+indeces
 FOF
 NoO
@@ -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>
@@ -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$" />
+    </exec>
+  </tool>
 </toolSet>
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$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$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
    <envs>
      <env name="QT_DBL_CLICK_DIST" value="150" />
    </envs>
@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$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$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>
@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$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>
@@ -174,8 +174,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"sunnypilot_ui", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"UseRaylib", {PERSISTENT | BACKUP, BOOL, "0"}},

    // MADS params
    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
@@ -264,4 +262,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
+
+    // Tuning keys
+    {"EnableHkgTuningAngleSmoothingFactor", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"HkgTuningAngleMinTorqueReductionGain", {PERSISTENT | BACKUP, INT, "10"}},
+    {"HkgTuningAngleMaxTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
+    {"HkgTuningAngleActiveTorqueReductionGain", {PERSISTENT | BACKUP, INT, "100"}},
+    {"HkgTuningOverridingCycles", {PERSISTENT | BACKUP, INT, "17"}},
 };
@@ -13,7 +13,7 @@ cd $ROOT

 FAILED=0

-IGNORED_FILES="uv\.lock|docs\/CARS.md|LICENSE\.md"
+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() {
@@ -10,11 +10,6 @@ from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.onboarding import OnboardingWindow

-from openpilot.common.params import Params
-if Params().get_bool("sunnypilot_ui"):
-  from openpilot.selfdrive.ui.sunnypilot.layouts.settings.settings import SettingsLayoutSP as SettingsLayout
-  from openpilot.selfdrive.ui.sunnypilot.layouts.home import HomeLayoutSP as HomeLayout
-

 class MainState(IntEnum):
  HOME = 0
@@ -9,9 +9,6 @@ from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.widgets import DialogResult

-if Params().get_bool("sunnypilot_ui"):
-  from openpilot.system.ui.sunnypilot.lib.list_view import (toggle_item_sp as toggle_item)
-
 # Description constants
 DESCRIPTIONS = {
  'enable_adb': tr_noop(
@@ -11,10 +11,6 @@ from openpilot.selfdrive.ui.ui_state import ui_state

 PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants

-if Params().get_bool("sunnypilot_ui"):
-  from openpilot.system.ui.sunnypilot.lib.list_view import (multiple_button_item_sp as multiple_button_item,
-                                                            toggle_item_sp as toggle_item)
-
 # Description constants
 DESCRIPTIONS = {
  "OpenpilotEnabledToggle": tr_noop(
@@ -1,17 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from openpilot.selfdrive.ui.layouts.home import HomeLayout
-from openpilot.selfdrive.ui.sunnypilot.widgets.drive_stats import DriveStatsWidget
-
-
-class HomeLayoutSP(HomeLayout):
-  def __init__(self):
-    super().__init__()
-    self._drive_stats_widget = DriveStatsWidget()
-
-  def _render_left_column(self):
-    self._drive_stats_widget.render(self.left_column_rect)
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class CruiseLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-
-    items = [
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
@@ -1,126 +0,0 @@
-from itertools import filterfalse
-from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
-from openpilot.system.ui.widgets.list_view import dual_button_item, DualButtonAction
-from openpilot.system.ui.sunnypilot.lib.list_view import option_item_sp, multiple_button_item_sp
-
-offroad_time_options = {
-  0: [0, "Always On"],
-  1: [5, "5m"],
-  2: [10, "10m"],
-  3: [15, "15m"],
-  4: [30, "30m"],
-  5: [60, "1h"],
-  6: [120, "2h"],
-  7: [180, "3h"],
-  8: [300, "5h"],
-  9: [600, "10h"],
-  10: [1440, "24h"],
-  11: [1800, "30h (Default)"]
-}
-brightness_options = {
-  0: [1, "Auto (Dark)"],
-  1: [0, "Auto"],
-  2: [10, "10"],
-  3: [20, "20"],
-  4: [30, "30"],
-  5: [40, "40"],
-  6: [50, "50"],
-  7: [60, "60"],
-  8: [70, "70"],
-  9: [80, "80"],
-  10: [90, "90"],
-  11: [100, "100"]
-}
-
-class DeviceLayoutSP(DeviceLayout):
-  def __init__(self):
-    DeviceLayout.__init__(self)
-
-  def _hide_item(self, item):
-    return (item.title in {"Driver Camera", "Regulatory", "Review Training Guide", "Change Language"}
-            or (isinstance(item.action_item, DualButtonAction)))
-
-  def _initialize_items(self):
-
-    items = DeviceLayout._initialize_items(self)
-    items[:] = filterfalse(self._hide_item, items)
-
-    self.max_time_offroad = option_item_sp(
-      title="Max Time Offroad",
-      description="Device will automatically shutdown after set time once the engine is turned off.\n(30h is the default)",
-      param="MaxTimeOffroad",
-      min_value=0,
-      max_value=11,
-      value_change_step=1,
-      on_value_changed=None,
-      enabled=True,
-      icon="",
-      value_map=offroad_time_options,
-      label_width=300,
-      use_float_scaling=False)
-
-    self.device_wake_mode = multiple_button_item_sp(
-      "Wake Up Behavior",
-      description=self.wake_mode_description,
-      param="DeviceBootMode",
-      buttons=["Default", "Offroad"],
-      button_width=255,
-      callback=None,
-    )
-
-    self.interactivity_timeout = option_item_sp(
-      title="Interactivity Timeout",
-      description="""Apply a custom timeout for settings UI.\n
-                  This is the time after which settings UI closes automatically
-                  if user is not interacting with the screen.""",
-      param="InteractivityTimeout",
-      min_value=0,
-      max_value=120,
-      value_change_step=10,
-      on_value_changed=None,
-      enabled=True,
-      icon="",
-      value_map=None,
-      label_width=300,
-      use_float_scaling=False,
-      label_callback=self.update_interactivity_timeout_label
-    )
-
-    self.brightness = option_item_sp(
-      title="Brightness",
-      description="Overrides the brightness of the device.",
-      param="Brightness",
-      min_value=0,
-      max_value=11,
-      value_change_step=1,
-      on_value_changed=None,
-      enabled=True,
-      icon="",
-      value_map=brightness_options,
-      label_width=300,
-      use_float_scaling=False,
-      label_callback=None
-    )
-
-    items += [
-      self.device_wake_mode,
-      self.max_time_offroad,
-      self.interactivity_timeout,
-      self.brightness,
-    ]
-
-    items += [
-      dual_button_item("Reboot", "Power Off", left_callback=self._reboot_prompt, right_callback=self._power_off_prompt),
-    ]
-
-    return items
-
-  def wake_mode_description(self) -> str:
-    def_str = "Default: Device will boot/wake-up normally & will be ready to engage."
-    offrd_str = "Offroad: Device will be in Always Offroad mode after boot/wake-up."
-    header = "Controls state of the device after boot/sleep."
-
-    return f"{header}\n\n{def_str}\n{offrd_str}"
-
-  def update_interactivity_timeout_label(self, value: int) -> str:
-    return "Default" if value == 0 else f"{value}s"
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class DisplayLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
@@ -1,90 +0,0 @@
-from openpilot.system.ui.sunnypilot.lib.list_view import button_item_sp, toggle_item_sp
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.tree_option_dialog import TreeOptionDialog, TreeNode, TreeFolder
-from openpilot.system.ui.lib.application import gui_app
-from openpilot.common.params import Params
-
-
-class ModelsLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-      button_item_sp("Current Model", "SELECT", callback=self._on_model_select),
-      toggle_item_sp("Live Learning Steer Delay"),
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
-
-  def _on_model_select(self):
-    # Demo data for TreeOptionDialog
-    tree_items = [
-      # Top-level items (no folder)
-      TreeFolder(
-        folder="",
-        items=[
-          TreeNode("Default Model", "default_model", 0),
-          TreeNode("Experimental Model", "experimental_model", 1),
-        ]
-      ),
-      # Models folder
-      TreeFolder(
-        folder="Available Models",
-        items=[
-          TreeNode("Model A - Comfort", "model_a_comfort", 2),
-          TreeNode("Model B - Aggressive", "model_b_aggressive", 3),
-          TreeNode("Model C - Balanced", "model_c_balanced", 4),
-          TreeNode("Model D - Highway", "model_d_highway", 5),
-          TreeNode("Model E - City", "model_e_city", 6),
-        ]
-      ),
-      # Development Models folder
-      TreeFolder(
-        folder="Development Models",
-        items=[
-          TreeNode("Dev Model Alpha", "dev_alpha", 7),
-          TreeNode("Dev Model Beta", "dev_beta", 8),
-          TreeNode("Dev Model Gamma", "dev_gamma", 9),
-        ]
-      ),
-      # Custom Models folder
-      TreeFolder(
-        folder="Custom Models",
-        items=[
-          TreeNode("Custom Model 1", "custom_1", 10),
-          TreeNode("Custom Model 2", "custom_2", 11),
-          TreeNode("Custom Model 3", "custom_3", 12),
-        ]
-      ),
-    ]
-
-    # Get current model selection
-    current_model = "default_model"
-
-    # Create and show the tree dialog
-    dialog = TreeOptionDialog(
-      title="Select Model",
-      items=tree_items,
-      current=current_model,
-      fav_param="ModelManager_Favs"
-    )
-
-    # Set as modal overlay
-    gui_app.set_modal_overlay(dialog)
-
-    # Save selection when dialog closes
-    def save_selection():
-      if dialog.selection != current_model:
-        self._params.put("ModelSelection", dialog.selection)
-        # Update button text or other UI elements here if needed
-
-    # Note: In a real implementation, you'd need to hook into the dialog's close event
-    # to call save_selection(). For now, this demonstrates the usage.
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class OSMLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
@@ -1,186 +0,0 @@
-import pyray as rl
-from dataclasses import dataclass
-from enum import IntEnum
-from openpilot.selfdrive.ui.layouts.settings import settings as OP
-from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.device import DeviceLayoutSP
-from openpilot.selfdrive.ui.layouts.settings.firehose import FirehoseLayout
-from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
-from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
-from openpilot.system.ui.lib.application import gui_app,MousePos
-from openpilot.system.ui.lib.multilang import tr_noop
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.widgets.network import NetworkUI
-from openpilot.system.ui.lib.wifi_manager import WifiManager
-from openpilot.system.ui.widgets import Widget
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.sunnylink import SunnylinkLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.osm import OSMLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.trips import TripsLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.vehicle import VehicleLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.steering import SteeringLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise import CruiseLayout
-from openpilot.selfdrive.ui.sunnypilot.layouts.settings.visuals import VisualsLayout
-from selfdrive.ui.sunnypilot.layouts.settings.display import DisplayLayout
-
-OP.PANEL_COLOR = rl.Color(10, 10, 10, 255)
-ICON_SIZE = 70
-
-OP.PanelType = IntEnum( # type: ignore
-  "PanelType",
-  [es.name for es in OP.PanelType] + [
-    "SUNNYLINK",
-    "MODELS",
-    "STEERING",
-    "CRUISE",
-    "VISUALS",
-    "DISPLAY",
-    "OSM",
-    "TRIPS",
-    "VEHICLE",
-  ],
-  start=0,
-  )
-
-@dataclass
-class PanelInfo(OP.PanelInfo):
-  icon: str = ""
-
-
-class SettingsLayoutSP(OP.SettingsLayout):
-  def __init__(self):
-    OP.SettingsLayout.__init__(self)
-    self._nav_items: list[Widget] = []
-
-    # Create sidebar scroller
-    self._sidebar_scroller = Scroller([], spacing=0, line_separator = False, pad_end=False)
-
-    # Panel configuration
-    wifi_manager = WifiManager()
-    wifi_manager.set_active(False)
-
-    self._panels = {
-      OP.PanelType.DEVICE: PanelInfo(tr_noop("Device"), DeviceLayoutSP(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_home.png"),
-      OP.PanelType.NETWORK: PanelInfo(tr_noop("Network"), NetworkUI(wifi_manager), icon="icons/network.png"),
-      OP.PanelType.SUNNYLINK: PanelInfo(tr_noop("sunnylink"), SunnylinkLayout(), icon="icons/shell.png"),
-      OP.PanelType.TOGGLES: PanelInfo(tr_noop("Toggles"), TogglesLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
-      OP.PanelType.SOFTWARE: PanelInfo(tr_noop("Software"), SoftwareLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
-      OP.PanelType.MODELS: PanelInfo(tr_noop("Models"), ModelsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
-      OP.PanelType.STEERING: PanelInfo(tr_noop("Steering"), SteeringLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
-      OP.PanelType.CRUISE: PanelInfo(tr_noop("Cruise"), CruiseLayout(), icon="icons/speed_limit.png"),
-      OP.PanelType.VISUALS: PanelInfo(tr_noop("Visuals"), VisualsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
-      OP.PanelType.DISPLAY: PanelInfo(tr_noop("Display"), DisplayLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_display.png"),
-      OP.PanelType.OSM: PanelInfo(tr_noop("OSM"), OSMLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
-      OP.PanelType.TRIPS: PanelInfo(tr_noop("Trips"), TripsLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
-      OP.PanelType.VEHICLE: PanelInfo(tr_noop("Vehicle"), VehicleLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
-      OP.PanelType.FIREHOSE: PanelInfo(tr_noop("Firehose"), FirehoseLayout(), icon="../../sunnypilot/selfdrive/assets/offroad/icon_firehose.png"),
-      OP.PanelType.DEVELOPER: PanelInfo(tr_noop("Developer"), DeveloperLayout(), icon="icons/shell.png"),
-    }
-
-  def _create_nav_button(self, panel_type: OP.PanelType, panel_info: PanelInfo) -> Widget:
-    class NavButton(Widget):
-      def __init__(self, parent, p_type, p_info):
-        super().__init__()
-        self.parent = parent
-        self.panel_type = p_type
-        self.panel_info = p_info
-
-      def _render(self, rect):
-        is_selected = self.panel_type == self.parent._current_panel
-        text_color = OP.TEXT_SELECTED if is_selected else OP.TEXT_NORMAL
-        content_x = rect.x + 90
-        text_size = measure_text_cached(self.parent._font_medium, self.panel_info.name, 65)
-
-        # Draw background if selected
-        if is_selected:
-          self.container_rect = rl.Rectangle(
-            content_x - 20, rect.y, OP.SIDEBAR_WIDTH - 70, OP.NAV_BTN_HEIGHT
-          )
-          rl.draw_rectangle_rounded(self.container_rect, 0.2, 5, OP.CLOSE_BTN_COLOR)
-
-        if self.panel_info.icon:
-          icon_texture = gui_app.texture(self.panel_info.icon, ICON_SIZE, ICON_SIZE, keep_aspect_ratio=True)
-          rl.draw_texture(icon_texture, int(content_x), int(rect.y + (OP.NAV_BTN_HEIGHT - icon_texture.height) / 2), rl.WHITE)
-          content_x += ICON_SIZE + 20
-
-        # Draw button text (right-aligned)
-        text_pos = rl.Vector2(
-          content_x,
-          rect.y + (OP.NAV_BTN_HEIGHT - text_size.y) / 2
-        )
-        rl.draw_text_ex(self.parent._font_medium, self.panel_info.name, text_pos, 55, 0, text_color)
-
-        # Store button rect for click detection
-        self.panel_info.button_rect = rect
-
-    return NavButton(self, panel_type, panel_info)
-
-  def _draw_sidebar(self, rect: rl.Rectangle):
-    rl.draw_rectangle_rec(rect, OP.SIDEBAR_COLOR)
-
-    # Close button
-    close_btn_rect = rl.Rectangle(
-      rect.x + (rect.width - OP.CLOSE_BTN_SIZE) / 2, rect.y + 60, OP.CLOSE_BTN_SIZE, OP.CLOSE_BTN_SIZE
-    )
-
-    pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and
-               rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect))
-    close_color = OP.CLOSE_BTN_PRESSED if pressed else OP.CLOSE_BTN_COLOR
-    rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color)
-
-    icon_color = rl.Color(255, 255, 255, 255) if not pressed else rl.Color(220, 220, 220, 255)
-    icon_dest = rl.Rectangle(
-      close_btn_rect.x + (close_btn_rect.width - self._close_icon.width) / 2,
-      close_btn_rect.y + (close_btn_rect.height - self._close_icon.height) / 2,
-      self._close_icon.width,
-      self._close_icon.height,
-      )
-    rl.draw_texture_pro(
-      self._close_icon,
-      rl.Rectangle(0, 0, self._close_icon.width, self._close_icon.height),
-      icon_dest,
-      rl.Vector2(0, 0),
-      0,
-      icon_color,
-    )
-
-    # Store close button rect for click detection
-    self._close_btn_rect = close_btn_rect
-
-    # Navigation buttons with scroller
-    if not self._nav_items:
-      for panel_type, panel_info in self._panels.items():
-        nav_button = self._create_nav_button(panel_type, panel_info)
-        nav_button.rect.width = rect.width - 100  # Full width minus padding
-        nav_button.rect.height = OP.NAV_BTN_HEIGHT
-        self._nav_items.append(nav_button)
-        self._sidebar_scroller.add_widget(nav_button)
-
-    # Draw navigation section with scroller
-    nav_rect = rl.Rectangle(
-      rect.x,
-      rect.y + 300,  # Starting Y position for nav items
-      rect.width,
-      rect.height - 300  # Remaining height after close button
-    )
-
-    if self._nav_items:
-      self._sidebar_scroller.render(nav_rect)
-      return
-
-
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
-    # Check close button
-    if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
-      if self._close_callback:
-        self._close_callback()
-      return True
-
-    # Check navigation buttons
-    for panel_type, panel_info in self._panels.items():
-      if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect) and self._sidebar_scroller.scroll_panel.is_touch_valid():
-        self.set_current_panel(panel_type)
-        return True
-
-    return False
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class SteeringLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class SunnylinkLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class TripsLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class VehicleLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
@@ -1,21 +0,0 @@
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.system.ui.widgets import Widget
-from openpilot.common.params import Params
-
-
-class VisualsLayout(Widget):
-  def __init__(self):
-    super().__init__()
-
-    self._params = Params()
-    items = self._init_items()
-    self._scroller = Scroller(items, line_separator=True, spacing=0)
-
-  def _init_items(self):
-    items = [
-
-    ]
-    return items
-
-  def _render(self, rect):
-    self._scroller.render(rect)
@@ -1,6 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
@@ -1,145 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-import json
-import pyray as rl
-from typing import Dict, Optional
-
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.label import gui_label
-from openpilot.tools.lib.api import CommaApi
-from openpilot.common.params import Params
-
-import openpilot.system.ui.sunnypilot.lib.styles as styles
-style = styles.Default
-
-MILE_TO_KM = 1.609344
-
-class DriveStatsWidget(Widget):
-  """Widget for displaying driving statistics"""
-
-  BG_COLOR = style.BASE_BG_COLOR
-  TEXT_COLOR = rl.WHITE
-  SECONDARY_TEXT_COLOR = style.ITEM_DESC_TEXT_COLOR
-
-  def __init__(self):
-    super().__init__()
-    self.stats = {"all": {"routes": 0, "distance": 0, "minutes": 0},
-                  "week": {"routes": 0, "distance": 0, "minutes": 0}}
-    self.metric = Params().get_bool("IsMetric")
-    self.api_client = CommaApi()
-    self.last_fetch_time = 0
-    self.fetch_interval = 30  # 30 seconds between fetches
-
-    # Initial fetch
-    self._fetch_stats()
-
-  def _fetch_stats(self):
-    """Fetch driving statistics from the API"""
-    dongle_id = Params().get("DongleId")
-    if dongle_id:
-      url = f"v1.1/devices/{dongle_id}/stats"
-      try:
-        response = self.api_client.get(url)
-        self._handle_response(response.text, response.status_code)
-      except Exception as e:
-        print(f"Exception fetching drive stats for dongle id {dongle_id}: {e}")
-
-  def _handle_response(self, response_text, status_code):
-    """Handle API response for drive statistics"""
-    if status_code != 200:
-      print(f"Error fetching drive stats: {status_code}")
-      return
-
-    try:
-      response = json.loads(response_text)
-      self.stats = response
-    except json.JSONDecodeError:
-      print("Failed to parse drive stats response")
-
-  def _get_distance_unit(self):
-    """Get the distance unit based on metric setting"""
-    return "km" if self.metric else "mi"
-
-  def _render_stats_section(self, rect: rl.Rectangle, title: str, stats_data: Dict):
-    """Render a stats section (All Time or Past Week)"""
-    x, y = rect.x, rect.y
-    width = rect.width
-
-    # Title
-    gui_label(rl.Rectangle(x, y, width, 51), title, 51, font_weight=FontWeight.MEDIUM)
-    y += 80  # Move down after title
-
-    # Calculate values
-    routes = int(stats_data.get("routes", 0))
-    distance = int(stats_data.get("distance", 0) * (MILE_TO_KM if self.metric else 1))
-    hours = int(stats_data.get("minutes", 0) / 60)
-
-    # Layout for values and labels
-    column_width = width / 3
-
-    # Draw values
-    font_bold = gui_app.font(FontWeight.MEDIUM)
-    font_light = gui_app.font(FontWeight.LIGHT)
-
-    # Routes column
-    rl.draw_text_ex(font_bold, str(routes), rl.Vector2(x, y), 78, 0, self.TEXT_COLOR)
-    rl.draw_text_ex(font_light, "Drives", rl.Vector2(x, y + 85), 51, 0, self.SECONDARY_TEXT_COLOR)
-
-    # Distance column
-    rl.draw_text_ex(font_bold, str(distance), rl.Vector2(x + column_width, y), 78, 0, self.TEXT_COLOR)
-    rl.draw_text_ex(font_light, self._get_distance_unit(), rl.Vector2(x + column_width, y + 85), 51, 0, self.SECONDARY_TEXT_COLOR)
-
-    # Hours column
-    rl.draw_text_ex(font_bold, str(hours), rl.Vector2(x + column_width * 2, y), 78, 0, self.TEXT_COLOR)
-    rl.draw_text_ex(font_light, "Hours", rl.Vector2(x + column_width * 2, y + 85), 51, 0, self.SECONDARY_TEXT_COLOR)
-
-    # Return the height of this section
-    return 160  # Approximate height of the section
-
-  def _render(self, rect):
-    """Main render method"""
-    # Check if we need to update stats
-    current_time = rl.get_time()
-    if current_time - self.last_fetch_time >= self.fetch_interval:
-      self._fetch_stats()
-      self.last_fetch_time = current_time
-
-    # Check if metric setting has changed
-    current_metric = Params().get_bool("IsMetric")
-    if self.metric != current_metric:
-      self.metric = current_metric
-
-    # Draw background
-    rl.draw_rectangle_rounded(rect, 0.02, 10, self.BG_COLOR)
-
-    # Content margins
-    content_rect = rl.Rectangle(
-      rect.x + 50,  # left margin
-      rect.y + 50,  # top margin
-      rect.width - 100,  # width with margins
-      rect.height - 110   # height with margins
-    )
-
-    # Render all time stats
-    all_time_rect = rl.Rectangle(content_rect.x, content_rect.y, content_rect.width, 0)
-    all_time_height = self._render_stats_section(all_time_rect, "ALL TIME", self.stats.get("all", {}))
-
-    # Space between sections
-    spacing = 200
-
-    # Render past week stats
-    week_rect = rl.Rectangle(
-      content_rect.x, 
-      content_rect.y + all_time_height + spacing, 
-      content_rect.width, 
-      0
-    )
-    self._render_stats_section(week_rect, "PAST WEEK", self.stats.get("week", {}))
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a258a022f0ab90368327d899ed4fb85b47dd0e35c93508e35851d9c3184528c0
-size 36382
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8623dbc5c7dd043a91d98777cb423cfd116014ed6390af6d7d00c1f8dea3c6e8
-size 1181
@@ -8,6 +8,8 @@ from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.text import wrap_text
 from openpilot.system.ui.widgets import Widget

+from openpilot.system.ui.sunnypilot.lib.application import gui_app_sp
+
 # Constants
 PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
@@ -26,7 +28,7 @@ def clamp(value, min_value, max_value):
 class Spinner(Widget):
  def __init__(self):
    super().__init__()
-    self._comma_texture = gui_app.texture("../../sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
+    self._comma_texture = gui_app_sp.sp_texture("images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
    self._spinner_texture = gui_app.texture("images/spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True)
    self._rotation = 0.0
    self._progress: int | None = None
@@ -0,0 +1,24 @@
+from openpilot.system.ui.lib.application import GuiApplication
+from importlib.resources import as_file, files
+
+ASSETS_DIR_SP = files("openpilot.sunnypilot.selfdrive").joinpath("assets")
+
+
+class GuiApplicationSP(GuiApplication):
+
+  def __init__(self, width: int, height: int):
+    super().__init__(width, height)
+
+  def sp_texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True):
+    cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}"
+    if cache_key in self._textures:
+      return self._textures[cache_key]
+
+    with as_file(ASSETS_DIR_SP.joinpath(asset_path)) as fspath:
+      image_obj = self._load_image_from_path(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio)
+      texture_obj = self._load_texture_from_image(image_obj)
+    self._textures[cache_key] = texture_obj
+    return texture_obj
+
+
+gui_app_sp = GuiApplicationSP(2160, 1080)
@@ -1,223 +0,0 @@
-import pyray as rl
-
-from openpilot.system.ui.widgets.list_view import ToggleAction, ButtonAction, DualButtonAction, TextAction, MultipleButtonAction, ListItem, ItemAction
-from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-from collections.abc import Callable
-
-from openpilot.common.params import Params
-from openpilot.system.ui.sunnypilot.lib.toggle import ToggleSP
-from openpilot.system.ui.sunnypilot.lib.option_control import OptionControlSP
-from openpilot.system.ui.widgets.list_view import _resolve_value
-
-import openpilot.system.ui.sunnypilot.lib.styles as styles
-style = styles.Default
-
-
-class ToggleActionSP(ToggleAction):
-  def __init__(self, initial_state: bool = False, width: int = style.TOGGLE_WIDTH, enabled: bool | Callable[[], bool] = True, param: str | None = None):
-    ToggleAction.__init__(self, initial_state, width, enabled)
-    self.toggle = ToggleSP(initial_state=initial_state, param=param)
-
-class ListItemSP(ListItem):
-  def __init__(self, title: str = "", icon: str | None = None, description: str | Callable[[], str] | None = None,
-               description_visible: bool = False, callback: Callable | None = None,
-               action_item: ItemAction | None = None):
-    ListItem.__init__(self, title, icon, description, description_visible, callback, action_item)
-
-  def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
-    if not self.action_item:
-      return rl.Rectangle(0, 0, 0, 0)
-
-    right_width = self.action_item.rect.width
-    if right_width == 0:  # Full width action (like DualButtonAction)
-      return rl.Rectangle(item_rect.x + style.ITEM_PADDING, item_rect.y,
-                          item_rect.width - (style.ITEM_PADDING * 2), style.ITEM_BASE_HEIGHT)
-
-    action_width = self.action_item.rect.width
-    if isinstance(self.action_item, ToggleAction):
-      action_x = item_rect.x
-    else:
-      action_x = item_rect.x + item_rect.width - action_width
-    action_y = item_rect.y
-    return rl.Rectangle(action_x, action_y, action_width, style.ITEM_BASE_HEIGHT)
-
-  def _render(self, _):
-    content_x = self._rect.x + style.ITEM_PADDING
-    text_x = content_x
-    left_action_item = isinstance(self.action_item, ToggleAction)
-
-    if left_action_item:
-      left_rect = rl.Rectangle(
-        content_x,
-        self._rect.y + (style.ITEM_BASE_HEIGHT - style.TOGGLE_HEIGHT) // 2,
-        style.TOGGLE_WIDTH,
-        style.TOGGLE_HEIGHT
-      )
-      text_x = left_rect.x + left_rect.width + style.ITEM_PADDING
-
-      # Draw title
-      if self.title:
-        text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
-        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2
-        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
-
-      # Render toggle and handle callback
-      if self.action_item.render(left_rect) and self.action_item.enabled:
-        if self.callback:
-          self.callback()
-
-    else:
-      if self.title:
-        # Draw main text
-        text_size = measure_text_cached(self._font, self.title, style.ITEM_TEXT_FONT_SIZE)
-        item_y = self._rect.y + (style.ITEM_BASE_HEIGHT - text_size.y) // 2
-        rl.draw_text_ex(self._font, self.title, rl.Vector2(text_x, item_y), style.ITEM_TEXT_FONT_SIZE, 0, style.ITEM_TEXT_COLOR)
-
-        # Draw right item if present
-        if self.action_item:
-          right_rect = self.get_right_item_rect(self._rect)
-          right_rect.y = self._rect.y
-          if self.action_item.render(right_rect) and self.action_item.enabled:
-            # Right item was clicked/activated
-            if self.callback:
-              self.callback()
-
-    # Draw description if visible
-    if self.description_visible:
-      content_width = int(self._rect.width - style.ITEM_PADDING * 2)
-      description_height = self._html_renderer.get_total_height(content_width)
-      description_rect = rl.Rectangle(
-        self._rect.x + style.ITEM_PADDING,
-        self._rect.y + style.ITEM_DESC_V_OFFSET,
-        content_width,
-        description_height
-      )
-      self._html_renderer.render(description_rect)
-
-class MultipleButtonActionSP(MultipleButtonAction):
-  def __init__(self, param: str | None, buttons: list[str], button_width: int, selected_index: int = 0, callback: Callable = None):
-    MultipleButtonAction.__init__(self, buttons, button_width, selected_index, callback)
-    self.param_key = param
-    self.params = Params()
-    if self.param_key:
-      self.selected_button = int(self.params.get(self.param_key, return_default = True))
-
-  def _render(self, rect: rl.Rectangle) -> bool:
-    spacing = 20
-    button_y = rect.y + (rect.height - style.BUTTON_HEIGHT) / 2
-    clicked = -1
-
-    for i, _text in enumerate(self.buttons):
-      button_x = rect.x + i * (self.button_width + spacing)
-      button_rect = rl.Rectangle(button_x, button_y, self.button_width, style.BUTTON_HEIGHT)
-
-      # Check button state
-      mouse_pos = rl.get_mouse_position()
-      is_hovered = rl.check_collision_point_rec(mouse_pos, button_rect)
-      is_pressed = is_hovered and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed
-      is_selected = i == self.selected_button
-
-      # Button colors
-      if is_selected:
-        bg_color = style.ON_BG_COLOR
-        if is_pressed:
-          bg_color = style.ON_HOVER_BG_COLOR
-      elif is_pressed:
-        bg_color = style.OFF_HOVER_BG_COLOR
-      else:
-        bg_color = style.OFF_BG_COLOR
-
-      # Draw button
-      rl.draw_rectangle_rounded(button_rect, 1.0, 20, bg_color)
-
-      # Draw text
-      text = _resolve_value(_text, "")
-      text_size = measure_text_cached(self._font, text, 40)
-      text_x = button_x + (self.button_width - text_size.x) / 2
-      text_y = button_y + (style.BUTTON_HEIGHT - text_size.y) / 2
-      rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), 40, 0, style.ITEM_TEXT_COLOR)
-
-      # Handle click
-      if is_hovered and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and self.is_pressed:
-        clicked = i
-
-    if clicked >= 0:
-      self.selected_button = clicked
-      if self.param_key:
-        self.params.put(self.param_key, self.selected_button)
-      if self.callback:
-        self.callback(clicked)
-      return True
-    return False
-
-
-class OptionControlActionSP(ItemAction):
-  def __init__(self, param: str, min_value: int, max_value: int,
-               value_change_step: int = 1, enabled: bool | Callable[[], bool] = True,
-               on_value_changed: Callable[[int], None] | None = None,
-               value_map: dict[int, tuple[int, str]] | None = None,
-               label_width: int = style.BUTTON_WIDTH,
-               use_float_scaling: bool = False,
-               label_callback: Callable[[int], str] | None = None):
-    # Initialize with zero width - the component will size itself
-    super().__init__()
-
-    # Create the option control
-    self.option_control = OptionControlSP(
-      param, min_value, max_value, value_change_step,
-      enabled, on_value_changed, value_map, label_width, use_float_scaling,
-      label_callback
-    )
-
-  def _render(self, rect: rl.Rectangle) -> bool | int | None:
-    # Ensure the touch validity callback is passed to the option control
-    if hasattr(self, '_touch_valid_callback') and self._touch_valid_callback:
-      self.option_control.set_touch_valid_callback(self._touch_valid_callback)
-
-    # Pass the enabled state to the option control
-    self.option_control.set_enabled(self.enabled)
-
-    # Render the control and return whether a value change occurred
-    return self.option_control.render(rect)
-
-def toggle_item_sp(title: str, description: str | Callable[[], str] | None = None, initial_state: bool = False,
-                callback: Callable | None = None, icon: str = "", enabled: bool | Callable[[], bool] = True, param: str | None = None) -> ListItem:
-  action = ToggleActionSP(initial_state=initial_state, enabled=enabled, param=param)
-  return ListItemSP(title=title, description=description, action_item=action, icon=icon, callback=callback)
-
-
-def button_item_sp(title: str, button_text: str | Callable[[], str], description: str | Callable[[], str] | None = None,
-                callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem:
-  action = ButtonAction(text=button_text, enabled=enabled)
-  return ListItemSP(title=title, description=description, action_item=action, callback=callback)
-
-
-def text_item_sp(title: str, value: str | Callable[[], str], description: str | Callable[[], str] | None = None,
-              callback: Callable | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem:
-  action = TextAction(text=value, color=rl.Color(170, 170, 170, 255), enabled=enabled)
-  return ListItemSP(title=title, description=description, action_item=action, callback=callback)
-
-
-def dual_button_item_sp(left_text: str, right_text: str, left_callback: Callable = None, right_callback: Callable = None,
-                     description: str | Callable[[], str] | None = None, enabled: bool | Callable[[], bool] = True) -> ListItem:
-  action = DualButtonAction(left_text, right_text, left_callback, right_callback, enabled)
-  return ListItemSP(title="", description=description, action_item=action)
-
-def multiple_button_item_sp(title: str, description: str| Callable[[], str], buttons: list[str], selected_index: int = 0,
-                         button_width: int = style.BUTTON_WIDTH, callback: Callable = None, icon: str = "",
-                         param: str | None = None) -> ListItem:
-  action = MultipleButtonActionSP(param, buttons, button_width, selected_index, callback=callback)
-  return ListItemSP(title=title, description=description, icon=icon, action_item=action)
-
-def option_item_sp(title: str, param: str,
-                   min_value: int, max_value: int, description: str | Callable[[], str] | None = None,
-                   value_change_step: int = 1, on_value_changed: Callable[[int], None] | None = None,
-                   enabled: bool | Callable[[], bool] = True,
-                   icon: str = "", label_width: int = style.BUTTON_WIDTH, value_map: dict[int, tuple[int, str]] | None = None,
-                   use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None) -> ListItem:
-  action = OptionControlActionSP(
-      param, min_value, max_value, value_change_step,
-      enabled, on_value_changed, value_map, label_width, use_float_scaling, label_callback
-  )
-  return ListItemSP(title=title, description=description, action_item=action, icon=icon)
@@ -1,233 +0,0 @@
-import pyray as rl
-from collections.abc import Callable
-from openpilot.common.params import Params
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.text_measure import measure_text_cached
-import openpilot.system.ui.sunnypilot.lib.styles as styles
-
-style = styles.Default
-
-# Dimensions and styling constants
-BUTTON_WIDTH = 80
-BUTTON_HEIGHT = 80
-LABEL_WIDTH = 200
-BUTTON_SPACING = 25
-VALUE_FONT_SIZE = 50
-BUTTON_FONT_SIZE = 60
-BUTTON_CORNER_RADIUS = 20
-CONTAINER_PADDING = 20
-INNER_PADDING = 10
-TOP_PADDING = 25
-
-class OptionControlSP(Widget):
-    def __init__(self, param: str, min_value: int, max_value: int,
-                 value_change_step: int = 1, enabled: bool | Callable[[], bool] = True,
-                 on_value_changed: Callable[[int], None] | None = None,
-                 value_map: dict[int, tuple[int, str]] | None = None,
-                 label_width: int = LABEL_WIDTH,
-                 use_float_scaling: bool = False, label_callback: Callable[[int], str] | None = None):
-
-        super().__init__()
-        self.params = Params()
-        self.param_key = param
-        self.min_value = min_value
-        self.max_value = max_value
-        self.value_change_step = value_change_step
-        self._enabled = enabled
-        self.on_value_changed = on_value_changed
-        self.value_map = value_map
-        self.label_width = label_width
-        self.use_float_scaling = use_float_scaling
-        self.current_value = min_value
-        self.label_callback = label_callback
-        if self.value_map:
-            for key in self.value_map:
-                if self.value_map[key][0] == self.params.get(self.param_key, return_default = True):
-                    self.current_value = int(key)
-                    break
-        else:
-            self.current_value = int(self.params.get(self.param_key, return_default = True))
-
-        # Initialize font and button styles
-        self._font = gui_app.font(FontWeight.MEDIUM)
-
-        # Layout rectangles for components
-        self.minus_btn_rect = rl.Rectangle(0, 0, BUTTON_WIDTH, BUTTON_HEIGHT)
-        self.label_rect = rl.Rectangle(0, 0, self.label_width, BUTTON_HEIGHT)
-        self.plus_btn_rect = rl.Rectangle(0, 0, BUTTON_WIDTH, BUTTON_HEIGHT)
-        self.container_rect = rl.Rectangle(0, 0, 0, 0)
-
-    def set_enabled(self, enabled: bool | Callable[[], bool]):
-        """Set whether the control is enabled"""
-        self._enabled = enabled
-
-    def get_value(self) -> int:
-        """Get the current value of the control"""
-        return self.current_value
-
-    def set_value(self, value: int):
-        """Set the control to a specific value"""
-        if self.min_value <= value <= self.max_value:
-            self.current_value = value
-            if self.value_map:
-                self.params.put(self.param_key, self.value_map[value][0])
-            else:
-                self.params.put(self.param_key, value)
-            if self.on_value_changed:
-                self.on_value_changed(value)
-
-    def _update_layout_rects(self):
-        """Update the layout rectangles when the widget rect changes"""
-        # Calculate total control width
-        control_width = (BUTTON_WIDTH * 2) + self.label_width + (BUTTON_SPACING * 2)
-        total_width = control_width + (CONTAINER_PADDING * 2)
-
-        # Update the widget's width to match the control
-        self._rect.width = total_width
-
-        # Position the control in the parent rectangle
-        start_x = self._rect.x + self._rect.width - control_width - (CONTAINER_PADDING * 2)
-
-        # Set container rectangle
-        self.container_rect = rl.Rectangle(
-            start_x,
-            self._rect.y + TOP_PADDING,
-            total_width,
-            BUTTON_HEIGHT + (CONTAINER_PADDING * 2)
-        )
-
-        # Set component rectangles
-        component_y = self._rect.y + TOP_PADDING + CONTAINER_PADDING
-        start_x = self.container_rect.x + CONTAINER_PADDING
-
-        # Minus button
-        self.minus_btn_rect = rl.Rectangle(
-            start_x,
-            component_y,
-            BUTTON_WIDTH,
-            BUTTON_HEIGHT
-        )
-
-        # Value label
-        label_x = start_x + BUTTON_WIDTH + BUTTON_SPACING
-        self.label_rect = rl.Rectangle(
-            label_x,
-            component_y,
-            self.label_width,
-            BUTTON_HEIGHT
-        )
-
-        # Plus button
-        plus_x = label_x + self.label_width + BUTTON_SPACING
-        self.plus_btn_rect = rl.Rectangle(
-            plus_x,
-            component_y,
-            BUTTON_WIDTH,
-            BUTTON_HEIGHT
-        )
-
-    def is_enabled(self) -> bool:
-        """Check if the control is enabled"""
-        return self._enabled() if callable(self._enabled) else self._enabled
-
-    def get_displayed_value(self) -> str:
-        """Get the displayed value, handling value mapping if present"""
-        value = self.current_value
-
-        if callable(self.label_callback):
-            return self.label_callback(value)
-
-        if self.value_map:
-            # Use the value map to get the display string
-            if value in self.value_map:
-                return self.value_map[value][1]  # Return the display string
-
-        # If using float scaling, format as float
-        if self.use_float_scaling:
-            return f"{value / 100.0:.2f}"
-
-        return str(value)
-
-    def _render(self, rect: rl.Rectangle) -> bool:
-        """Render the widget and handle input"""
-        if self._rect.width == 0 or self._rect.height == 0:
-            return False
-
-        # Ensure layout rectangles are updated
-        if self.container_rect.width == 0:
-            self._update_layout_rects()
-
-        # Get enabled state
-        enabled = self.is_enabled()
-
-        # Draw container background
-        rl.draw_rectangle_rounded(self.container_rect, 1, BUTTON_CORNER_RADIUS, style.OPTIONCONTROL_CONTAINER_BG)
-
-        # Determine button states
-        minus_enabled = enabled and self.current_value > self.min_value
-        plus_enabled = enabled and self.current_value < self.max_value
-
-        # Render buttons and label
-        minus_pressed = self._render_button(self.minus_btn_rect, "-", minus_enabled)
-        self._render_value_label()
-        plus_pressed = self._render_button(self.plus_btn_rect, "+", plus_enabled)
-
-        # Handle button presses
-        value_changed = False
-        if minus_pressed and minus_enabled:
-            self.current_value -= self.value_change_step
-            self.current_value = max(self.min_value, self.current_value)
-            value_changed = True
-        elif plus_pressed and plus_enabled:
-            self.current_value += self.value_change_step
-            self.current_value = min(self.max_value, self.current_value)
-            value_changed = True
-
-        # Call the value changed callback
-        if value_changed:
-            self.set_value(self.current_value)
-
-        return value_changed
-
-    def _render_button(self, rect: rl.Rectangle, text: str, enabled: bool) -> bool:
-        """Render a button and return True if it was clicked"""
-        mouse_pos = rl.get_mouse_position()
-        is_hovered = rl.check_collision_point_rec(mouse_pos, rect) and self._touch_valid()
-        is_pressed = is_hovered and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
-        was_clicked = is_hovered and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT)
-
-        # Determine button colors based on state
-        if not enabled:
-            bg_color = style.OPTIONCONTROL_BTN_DISABLED
-            text_color = style.OPTIONCONTROL_TEXT_DISABLED
-        elif is_pressed:
-            bg_color = style.OPTIONCONTROL_BTN_PRESSED
-            text_color = style.OPTIONCONTROL_TEXT_PRESSED
-        else:
-            bg_color = style.OPTIONCONTROL_BTN_ENABLED
-            text_color = style.OPTIONCONTROL_TEXT_ENABLED
-
-        # Draw button background
-        rl.draw_rectangle_rounded(rect, 1, BUTTON_CORNER_RADIUS, bg_color)
-
-        # Draw button text
-        text_size = measure_text_cached(self._font, text, BUTTON_FONT_SIZE)
-        text_x = rect.x + (rect.width - text_size.x) / 2
-        text_y = rect.y + (rect.height - text_size.y) / 2
-        rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), BUTTON_FONT_SIZE, 0, text_color)
-
-        return was_clicked and enabled
-
-    def _render_value_label(self):
-        """Render the current value label"""
-        text = self.get_displayed_value()
-        text_color = style.OPTIONCONTROL_TEXT_ENABLED if self.is_enabled() else style.OPTIONCONTROL_TEXT_DISABLED
-
-        # Calculate text position centered in the label area
-        text_size = measure_text_cached(self._font, text, VALUE_FONT_SIZE)
-        text_x = self.label_rect.x + (self.label_rect.width - text_size.x) / 2
-        text_y = self.label_rect.y + (self.label_rect.height - text_size.y) / 2
-
-        # Draw the text
-        rl.draw_text_ex(self._font, text, rl.Vector2(text_x, text_y), VALUE_FONT_SIZE, 0, text_color)
@@ -1,49 +0,0 @@
-import pyray as rl
-from dataclasses import dataclass
-
-@dataclass
-class Default:
-  # Base Colors
-  BASE_BG_COLOR = rl.Color(57, 57, 57, 255) # Grey
-  ON_BG_COLOR = rl.Color(28, 101, 186, 255) # Blue
-  OFF_BG_COLOR = BASE_BG_COLOR
-  ON_HOVER_BG_COLOR = rl.Color(17, 78, 150, 255) # Dark Blue
-  OFF_HOVER_BG_COLOR = rl.Color(21, 21, 21, 255)  # Dark gray
-  DISABLED_ON_BG_COLOR = rl.Color(37, 70, 107, 255) # Dull Blue
-  DISABLED_OFF_BG_COLOR = rl.Color(39, 39, 39, 255) # Grey
-  ITEM_TEXT_COLOR = rl.WHITE
-  ITEM_DISABLED_TEXT_COLOR = rl.Color(88, 88, 88, 255)
-  ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255)
-
-  # Widget/Control Base Dimensions
-  ITEM_BASE_HEIGHT = 170
-  ITEM_PADDING = 20
-  ITEM_TEXT_FONT_SIZE = 50
-  ITEM_DESC_FONT_SIZE = 40
-  ITEM_DESC_V_OFFSET = 150
-
-  # Button Control
-  BUTTON_WIDTH = 250
-  BUTTON_HEIGHT = 100
-
-  # Toggle Control
-  TOGGLE_HEIGHT = 100
-  TOGGLE_WIDTH = int(TOGGLE_HEIGHT * 1.75)
-  TOGGLE_BG_HEIGHT = TOGGLE_HEIGHT - 20
-
-  TOGGLE_ON_COLOR = ON_BG_COLOR
-  TOGGLE_OFF_COLOR = OFF_BG_COLOR
-  TOGGLE_KNOB_COLOR = rl.WHITE
-  TOGGLE_DISABLED_ON_COLOR = DISABLED_ON_BG_COLOR
-  TOGGLE_DISABLED_OFF_COLOR = DISABLED_OFF_BG_COLOR
-  TOGGLE_DISABLED_KNOB_COLOR = rl.Color(88, 88, 88, 255) # Lighter Grey
-
-  # Option Control
-  OPTIONCONTROL_CONTAINER_BG = OFF_BG_COLOR
-  OPTIONCONTROL_BTN_ENABLED = rl.Color(88, 88, 88, 255)
-  OPTIONCONTROL_BTN_PRESSED = ON_BG_COLOR
-  OPTIONCONTROL_BTN_DISABLED = DISABLED_OFF_BG_COLOR
-
-  OPTIONCONTROL_TEXT_ENABLED = rl.WHITE
-  OPTIONCONTROL_TEXT_PRESSED = rl.WHITE
-  OPTIONCONTROL_TEXT_DISABLED = ITEM_DISABLED_TEXT_COLOR
@@ -1,100 +0,0 @@
-import pyray as rl
-from openpilot.common.params import Params
-from openpilot.system.ui.lib.application import MousePos
-from openpilot.system.ui.widgets.toggle import Toggle
-import openpilot.system.ui.sunnypilot.lib.styles as styles
-
-style = styles.Default
-
-class ToggleSP(Toggle):
-  def __init__(self, initial_state=False, param: str | None = None):
-    self.param_key = param
-    self.params = Params()
-    if self.param_key:
-        initial_state = self.params.get_bool(self.param_key)
-    Toggle.__init__(self, initial_state)
-
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-      super()._handle_mouse_release(mouse_pos)
-      if self._enabled and self.param_key:
-        self.params.put_bool(self.param_key, self._state)
-
-  def _render(self, rect: rl.Rectangle):
-    self.update()
-    if self._enabled:
-      bg_color = self._blend_color(style.TOGGLE_OFF_COLOR, style.TOGGLE_ON_COLOR, self._progress)
-      knob_color = style.TOGGLE_KNOB_COLOR
-    else:
-      bg_color = self._blend_color(style.TOGGLE_DISABLED_OFF_COLOR, style.TOGGLE_DISABLED_ON_COLOR, self._progress)
-      knob_color = style.TOGGLE_DISABLED_KNOB_COLOR
-
-    # Draw background
-    bg_rect = rl.Rectangle(self._rect.x, self._rect.y, style.TOGGLE_WIDTH, style.TOGGLE_BG_HEIGHT)
-
-    # Draw outline first
-    outline_color = style.TOGGLE_ON_COLOR
-    if not self._enabled:
-        # Use a more subtle color for disabled state
-        outline_color = rl.Color(outline_color.r // 2, outline_color.g // 2, outline_color.b // 2, 255)
-
-    # Draw outline by drawing a slightly larger rounded rectangle behind the background
-    outline_rect = rl.Rectangle(bg_rect.x - 2, bg_rect.y - 2, bg_rect.width + 4, bg_rect.height + 4)
-    rl.draw_rectangle_rounded(outline_rect, 1.0, 10, outline_color)
-
-    # Draw actual background
-    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color)
-
-    # Draw knob to sit inside the background
-    knob_padding = 5
-    knob_radius = style.TOGGLE_BG_HEIGHT / 2 - knob_padding
-
-    left_edge = bg_rect.x + knob_padding
-    right_edge = bg_rect.x + bg_rect.width - knob_padding
-
-    knob_travel_distance = right_edge - left_edge - 2 * knob_radius
-    min_knob_x = left_edge + knob_radius
-    knob_x = min_knob_x + knob_travel_distance * self._progress
-    knob_y = self._rect.y + style.TOGGLE_BG_HEIGHT / 2
-
-    rl.draw_circle(int(knob_x), int(knob_y), knob_radius, knob_color)
-
-    symbol_size = knob_radius / 2
-
-    if self._state and (self._enabled or self._progress > 0.5):
-        # Draw checkmark when toggle is ON
-        start_x = knob_x - symbol_size * 0.8
-        start_y = knob_y
-        mid_x = knob_x - symbol_size * 0.1
-        mid_y = knob_y + symbol_size * 0.6
-        end_x = knob_x + symbol_size * 0.8
-        end_y = knob_y - symbol_size * 0.5
-
-        rl.draw_line_ex(
-            rl.Vector2(int(start_x), int(start_y)),
-            rl.Vector2(int(mid_x), int(mid_y)),
-            3,
-          style.TOGGLE_ON_COLOR
-        )
-        rl.draw_line_ex(
-            rl.Vector2(int(mid_x), int(mid_y)),
-            rl.Vector2(int(end_x), int(end_y)),
-            3,
-          style.TOGGLE_ON_COLOR
-        )
-    else:
-        # Draw X when toggle is OFF
-        x_size_factor = 0.65
-        x_offset = symbol_size * x_size_factor
-
-        rl.draw_line_ex(
-            rl.Vector2(int(knob_x - x_offset), int(knob_y - x_offset)),
-            rl.Vector2(int(knob_x + x_offset), int(knob_y + x_offset)),
-            3,
-          style.TOGGLE_OFF_COLOR
-        )
-        rl.draw_line_ex(
-            rl.Vector2(int(knob_x + x_offset), int(knob_y - x_offset)),
-            rl.Vector2(int(knob_x - x_offset), int(knob_y + x_offset)),
-            3,
-          style.TOGGLE_OFF_COLOR
-        )
@@ -1,369 +0,0 @@
-#  /**
-#   * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-#   *
-#   * This file is part of sunnypilot and is licensed under the MIT License.
-#   * See the LICENSE.md file in the root directory for more details.
-#   */
-
-import pyray as rl
-from dataclasses import dataclass
-from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import Button, ButtonStyle
-from openpilot.system.ui.widgets.label import gui_label
-from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.common.params import Params
-
-# Constants
-MARGIN = 50
-TITLE_FONT_SIZE = 70
-ITEM_HEIGHT = 135
-BUTTON_SPACING = 50
-BUTTON_HEIGHT = 160
-ITEM_SPACING = 5
-STAR_ICON_SIZE = 100
-FOLDER_ICON_SIZE = 40
-INDENT_SIZE = 50
-
-
-@dataclass
-class TreeNode:
-  """Represents a single item in the tree"""
-  display_name: str
-  ref: str  # Unique identifier for the item
-  index: int = 0
-
-
-@dataclass
-class TreeFolder:
-  """Represents a folder containing tree nodes"""
-  folder: str  # Folder name, empty string for top-level items
-  items: list[TreeNode]
-
-
-class TreeItemWidget(Widget):
-  """Widget representing a single tree item (folder or node)"""
-
-  def __init__(self, text: str, ref: str = "", is_folder: bool = False,
-               indent_level: int = 0, click_callback=None, favorite_callback=None,
-               is_favorite: bool = False, star_icon=None, folder_icon=None):
-    super().__init__()
-    self.text = text
-    self.ref = ref
-    self.is_folder = is_folder
-    self.indent_level = indent_level
-    self.is_expanded = False
-    self.is_selected = False
-    self.is_favorite = is_favorite
-    self._click_callback = click_callback
-    self._favorite_callback = favorite_callback
-    self.star_icon = star_icon
-    self.folder_icon = folder_icon
-    self.children: list[TreeItemWidget] = []
-
-    # Fixed height for tree items
-    self._rect = rl.Rectangle(0, 0, 0, ITEM_HEIGHT)
-
-  def add_child(self, child):
-    self.children.append(child)
-
-  def toggle_expand(self):
-    if self.is_folder:
-      self.is_expanded = not self.is_expanded
-
-  def _render(self, _):
-    # Background color based on selection state
-    bg_color = rl.Color(70, 91, 234, 255) if self.is_selected else rl.Color(79, 79, 79, 255)
-
-    # Draw background with rounded corners
-    rl.draw_rectangle_rounded(self._rect, 0.07, 10, bg_color)
-
-    # Calculate text position with indent
-    text_x = self._rect.x + self.indent_level * INDENT_SIZE + 20
-    text_y = self._rect.y + (self._rect.height - TITLE_FONT_SIZE) / 2
-    text_width = self._rect.width - self.indent_level * INDENT_SIZE - 40
-
-    # Draw folder icon if folder
-    if self.is_folder and self.folder_icon:
-      icon_x = text_x
-      icon_y = self._rect.y + (self._rect.height - FOLDER_ICON_SIZE) / 2
-      rl.draw_texture_ex(self.folder_icon, rl.Vector2(icon_x, icon_y), 0,
-                         FOLDER_ICON_SIZE / self.folder_icon.width, rl.WHITE)
-      text_x += FOLDER_ICON_SIZE + 10
-      text_width -= FOLDER_ICON_SIZE + 10
-
-    # Draw text
-    text_rect = rl.Rectangle(text_x, text_y, text_width - STAR_ICON_SIZE - 20, TITLE_FONT_SIZE)
-    gui_label(text_rect, self.text, 55, font_weight=FontWeight.LIGHT,
-              color=rl.WHITE)
-
-    # Draw star icon for non-folder items (on the right)
-    if not self.is_folder and self.star_icon:
-      star_x = self._rect.x + self._rect.width - STAR_ICON_SIZE - 20
-      star_y = self._rect.y + (self._rect.height - STAR_ICON_SIZE) / 2
-      star_rect = rl.Rectangle(star_x, star_y, STAR_ICON_SIZE, STAR_ICON_SIZE)
-
-      # Check if star icon is clicked
-      for mouse_event in gui_app.mouse_events:
-        if mouse_event.left_released and rl.check_collision_point_rec(mouse_event.pos, star_rect):
-          if self._favorite_callback:
-            self._favorite_callback(self)
-          return
-
-      # Draw star icon (filled if favorite, empty otherwise)
-      icon_scale = STAR_ICON_SIZE / self.star_icon.width
-      rl.draw_texture_ex(self.star_icon, rl.Vector2(star_x, star_y), 0, icon_scale,
-                        rl.WHITE if self.is_favorite else rl.Color(255, 255, 255, 100))
-
-  def _handle_mouse_release(self, mouse_pos):
-    """Handle click on the item"""
-    if self._click_callback:
-      self._click_callback(self)
-    return True
-
-
-class TreeOptionDialog(Widget):
-  """Dialog for selecting an item from a hierarchical tree structure with favorites support"""
-
-  def __init__(self, title: str, items: list[TreeFolder], current: str = "", fav_param: str = ""):
-    super().__init__()
-    self.title = title
-    self.items = items
-    self.current = current
-    self.selection = current
-    self.fav_param = fav_param
-    self.params = Params()
-
-    # Load favorites from params
-    self.favorites: set[str] = set()
-    if fav_param:
-      fav_str = self.params.get(fav_param)
-      if fav_str:
-        self.favorites = set(fav for fav in fav_str.split(';') if fav)
-
-    # Load icons
-    self.star_filled_icon = None
-    self.star_empty_icon = None
-    self.folder_icon = None
-
-    try:
-      self.star_filled_icon = rl.load_texture("../../sunnypilot/selfdrive/assets/icons/star-filled.png")
-      self.star_empty_icon = rl.load_texture("../../sunnypilot/selfdrive/assets/icons/star-empty.png")
-      self.folder_icon = rl.load_texture("../assets/icons/menu.png")
-    except:
-      # Icons are optional
-      pass
-
-    # Build tree structure
-    self.tree_items: list[TreeItemWidget] = []
-    self.ref_to_item: dict[str, TreeItemWidget] = {}  # Map ref to item for quick lookup
-    self._build_tree()
-
-    # Create scroller with all visible items
-    self.scroller = Scroller(self._get_visible_items(), spacing=ITEM_SPACING, pad_end=True)
-
-    # Buttons
-    self.cancel_button = Button("Cancel", click_callback=lambda: gui_app.set_modal_overlay(None))
-    self.select_button = Button("Select", click_callback=self._on_select, button_style=ButtonStyle.PRIMARY)
-
-  def _build_tree(self):
-    """Build the tree structure from the input items"""
-    folders: dict[str, TreeItemWidget] = {}
-
-    # Create favorites folder
-    favorites_folder = TreeItemWidget(
-      "Favorites", "", is_folder=True, indent_level=0,
-      click_callback=self._on_item_clicked,
-      folder_icon=self.folder_icon
-    )
-    folders["__favorites__"] = favorites_folder
-    self.tree_items.append(favorites_folder)
-
-    # First pass: create all folders and items
-    for tree_folder in self.items:
-      folder_name = tree_folder.folder
-
-      if not folder_name:
-        # Top-level items (no folder)
-        for node in tree_folder.items:
-          item = self._create_item_widget(node, indent_level=0)
-          self.tree_items.append(item)
-          self.ref_to_item[node.ref] = item
-      else:
-        # Items in a folder
-        if folder_name not in folders:
-          folder_widget = TreeItemWidget(
-            folder_name, "", is_folder=True, indent_level=0,
-            click_callback=self._on_item_clicked,
-            folder_icon=self.folder_icon
-          )
-          folders[folder_name] = folder_widget
-          # Insert after favorites folder
-          self.tree_items.insert(1, folder_widget)
-
-        folder_widget = folders[folder_name]
-        for node in tree_folder.items:
-          item = self._create_item_widget(node, indent_level=1)
-          folder_widget.add_child(item)
-          self.ref_to_item[node.ref] = item
-
-          # Auto-expand folder if it contains the current selection
-          if node.ref == self.current:
-            folder_widget.is_expanded = True
-
-    # Second pass: populate favorites folder
-    for fav_ref in self.favorites:
-      if fav_ref in self.ref_to_item:
-        original_item = self.ref_to_item[fav_ref]
-        # Create a duplicate item for the favorites folder
-        fav_item = self._create_item_widget(
-          TreeNode(original_item.text, fav_ref, 0),
-          indent_level=1
-        )
-        favorites_folder.add_child(fav_item)
-
-        # Auto-expand favorites if it contains the current selection
-        if fav_ref == self.current:
-          favorites_folder.is_expanded = True
-
-  def _create_item_widget(self, node: TreeNode, indent_level: int) -> TreeItemWidget:
-    """Create a tree item widget from a TreeNode"""
-    is_fav = node.ref in self.favorites
-    star_icon = self.star_filled_icon if is_fav else self.star_empty_icon
-
-    item = TreeItemWidget(
-      node.display_name, node.ref, is_folder=False, indent_level=indent_level,
-      click_callback=self._on_item_clicked,
-      favorite_callback=self._on_favorite_toggled,
-      is_favorite=is_fav,
-      star_icon=star_icon
-    )
-
-    if node.ref == self.current:
-      item.is_selected = True
-
-    return item
-
-  def _get_visible_items(self) -> list[TreeItemWidget]:
-    """Get all currently visible items in the tree (respecting expand/collapse state)"""
-    visible = []
-    for item in self.tree_items:
-      visible.append(item)
-      if item.is_folder and item.is_expanded:
-        visible.extend(item.children)
-    return visible
-
-  def _on_item_clicked(self, item: TreeItemWidget):
-    """Handle click on a tree item"""
-    if item.is_folder:
-      # Toggle folder expansion
-      item.toggle_expand()
-      # Rebuild scroller with new visible items
-      visible_items = self._get_visible_items()
-      self.scroller._items = visible_items
-      for widget in visible_items:
-        widget.set_touch_valid_callback(self.scroller.scroll_panel.is_touch_valid)
-    else:
-      # Select the item
-      # Deselect all items first
-      for ref_item in self.ref_to_item.values():
-        ref_item.is_selected = False
-      # Also deselect favorite duplicates
-      for tree_item in self.tree_items:
-        if tree_item.is_folder:
-          for child in tree_item.children:
-            child.is_selected = False
-
-      # Select the clicked item
-      item.is_selected = True
-      self.selection = item.ref
-
-  def _on_favorite_toggled(self, item: TreeItemWidget):
-    """Handle toggling favorite status of an item"""
-    if item.ref in self.favorites:
-      # Remove from favorites
-      self.favorites.discard(item.ref)
-
-      # Update all instances of this item (original + duplicate in favorites)
-      if item.ref in self.ref_to_item:
-        self.ref_to_item[item.ref].is_favorite = False
-        self.ref_to_item[item.ref].star_icon = self.star_empty_icon
-
-      # Remove from favorites folder
-      favorites_folder = self.tree_items[0]
-      favorites_folder.children = [c for c in favorites_folder.children if c.ref != item.ref]
-    else:
-      # Add to favorites
-      self.favorites.add(item.ref)
-
-      # Update all instances of this item
-      if item.ref in self.ref_to_item:
-        self.ref_to_item[item.ref].is_favorite = True
-        self.ref_to_item[item.ref].star_icon = self.star_filled_icon
-
-      # Add to favorites folder
-      favorites_folder = self.tree_items[0]
-      fav_item = self._create_item_widget(
-        TreeNode(item.text, item.ref, 0),
-        indent_level=1
-      )
-      # Insert at the beginning of favorites
-      favorites_folder.children.insert(0, fav_item)
-
-    # Save favorites to params
-    if self.fav_param:
-      self.params.put(self.fav_param, ';'.join(self.favorites))
-
-    # Rebuild scroller with new visible items
-    visible_items = self._get_visible_items()
-    self.scroller._items = visible_items
-    for widget in visible_items:
-      widget.set_touch_valid_callback(self.scroller.scroll_panel.is_touch_valid)
-
-  def _on_select(self):
-    """Handle select button click"""
-    gui_app.set_modal_overlay(None)
-
-  def _render(self, rect):
-    dialog_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN,
-                               rect.width - 2 * MARGIN, rect.height - 2 * MARGIN)
-    rl.draw_rectangle_rounded(dialog_rect, 0.02, 20, rl.Color(27, 27, 27, 255))
-
-    content_rect = rl.Rectangle(dialog_rect.x + MARGIN, dialog_rect.y + MARGIN,
-                                dialog_rect.width - 2 * MARGIN, dialog_rect.height - 2 * MARGIN)
-
-    # Title
-    gui_label(rl.Rectangle(content_rect.x, content_rect.y, content_rect.width, TITLE_FONT_SIZE),
-             self.title, 70, font_weight=FontWeight.MEDIUM)
-
-    # Tree area
-    tree_y = content_rect.y + TITLE_FONT_SIZE + 25
-    tree_h = content_rect.height - TITLE_FONT_SIZE - BUTTON_HEIGHT - 60
-    tree_rect = rl.Rectangle(content_rect.x, tree_y, content_rect.width, tree_h)
-
-    # Update all visible items with correct width
-    for item in self._get_visible_items():
-      item.set_rect(rl.Rectangle(0, 0, tree_rect.width, ITEM_HEIGHT))
-
-    self.scroller.render(tree_rect)
-
-    # Buttons
-    button_y = content_rect.y + content_rect.height - BUTTON_HEIGHT
-    button_w = (content_rect.width - BUTTON_SPACING) / 2
-
-    cancel_rect = rl.Rectangle(content_rect.x, button_y, button_w, BUTTON_HEIGHT)
-    self.cancel_button.render(cancel_rect)
-
-    select_rect = rl.Rectangle(content_rect.x + button_w + BUTTON_SPACING, button_y, button_w, BUTTON_HEIGHT)
-    self.select_button.set_enabled(self.selection != self.current)
-    self.select_button.render(select_rect)
-
-    return -1
-
-  def show_event(self):
-    """Reset scroll position when dialog is shown"""
-    self.scroller.show_event()
-
-  def hide_event(self):
-    """Clean up when dialog is hidden"""
-    self.scroller.hide_event()
@@ -24,6 +24,8 @@ SP_BRANCH_MIGRATIONS = {
  ("tizi", "staging-c3-new"): "staging",
  ("tizi", "dev-c3-new"): "dev",
  ("tizi", "master-dev-c3-new"): "master-dev",
+  ("tici", "hkg-angle-steering-2025"): "hkg-angle-steering-2025-tici",
+  ("tici", "hkg-angle-steering-2025-prebuilt"): "hkg-angle-steering-2025-tici-prebuilt"
 }

 BUILD_METADATA_FILENAME = "build.json"
@@ -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>
+
@@ -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>
+
@@ -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>
+
@@ -0,0 +1,175 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter sizes="0.25;0.25;0.25;0.25" count="4" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-3.582051" right="1431.113121" top="5.314632" left="5.322399"/>
+       <limitY/>
+       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
+       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
+       <curve name="IMU_LatAccelVal_ms^2" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-3.741271" right="1431.113121" top="3.756006" left="5.322399"/>
+       <limitY/>
+       <curve name="roll compensated lateral acceleration" color="#ff7f0e"/>
+       <curve name="IMU_LatAccelVal_Ms^2" color="#1ac938"/>
+       <curve name="IMU_LatAccelVal_ms^2_roll_compensated" color="#9467bd"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-0.025000" right="1431.113121" top="1.025000" left="5.322399"/>
+       <limitY/>
+       <curve name="/carState/steeringPressed" color="#0097ff"/>
+       <curve name="/carOutput/actuatorsOutput/torque" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-1.660728" right="1431.113121" top="67.942958" left="5.322399"/>
+       <limitY/>
+       <curve name="/carState/vEgo" color="#f14cc1">
+        <transform name="Scale/Offset" alias="/carState/vEgo[Scale/Offset]">
+         <options value_scale="2.23694" time_offset="0" value_offset="0"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="tab2" containers="1">
+   <Container>
+    <DockSplitter sizes="0.5;0.5" count="2" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="30595.900000" right="1431.113121" top="34884.100000" left="5.322399"/>
+       <limitY/>
+       <curve name="/can/1/IMU_01_10ms/IMU_RollRtVal" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range bottom="-0.058795" right="1431.113121" top="0.072448" left="5.322399"/>
+       <limitY/>
+       <curve name="/liveParameters/roll" color="#bcbd22"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="1"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="IMU_LatAccelVal_ms^2">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="roll compensated lateral acceleration">
+   <global></global>
+   <function>if (v3 == 0 and v4 == 1) then
+  return  (value * v1 ^ 2) - (v2 * 9.81)
+end
+return 0</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+    <v3>/carState/steeringPressed</v3>
+    <v4>/carControl/latActive</v4>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^2">
+   <global></global>
+   <function>if (v1 == 0 and v2 == 1) then
+  return  value * -9.8
+end
+return 0</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_Ms^3">
+   <global></global>
+   <function>return  value * -9.8</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="IMU_LatAccelVal_ms^2_roll_compensated">
+   <global></global>
+   <function>
+
+if (v1 == 0 and v2 == 1) then
+  return  (value * -9.8) - (v3 * 9.81)
+end
+return 0</function>
+   <linked_source>/can/1/IMU_01_10ms/IMU_LatAccelVal</linked_source>
+   <additional_sources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/latActive</v2>
+    <v3>/liveParameters/roll</v3>
+   </additional_sources>
+  </snippet>
+  <snippet name="Actual lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="Desired lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+