Merge branch 'stats_sp' into hkg-angle-steering-2025-stats

# Conflicts:
#	opendbc_repo

.codespellignore

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

.idea/customTargets.xml

@@ -21,5 +21,12 @@
         </clean>
       </configuration>
     </target>
+    <target id="f2590b2b-9b93-49f9-8510-da3f3724a2ae" name="replay" defaultType="TOOL">
+      <configuration id="d475264f-6f4c-4092-9b4e-6773309f38b7" name="replay" toolchainName="Default">
+        <build type="TOOL">
+          <tool actionId="Tool_External Tools_uv build tools replay" />
+        </build>
+      </configuration>
+    </target>
   </component>
 </project>

.idea/tools/External Tools.xml

@@ -20,4 +20,11 @@
       <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
     </exec>
   </tool>
+  <tool name="uv build tools replay" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
+    <exec>
+      <option name="COMMAND" value="bash" />
+      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) tools/replay/&quot;" />
+      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
+    </exec>
+  </tool>
 </toolSet>

.run/Build Debug.run.xml

@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
+  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
     <envs>
       <env name="QT_DBL_CLICK_DIST" value="150" />
     </envs>

.run/Debug Route Controls.run.xml

@@ -0,0 +1,27 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Debug Route Controls" type="PythonConfigurationType" factoryName="Python">
+    <module name="openpilot-special" />
+    <option name="ENV_FILES" value="" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="PARENT_ENVS" value="true" />
+    <envs>
+      <env name="PYTHONUNBUFFERED" value="1" />
+      <env name="FINGERPRINT" value="KIA_EV9" />
+      <env name="SKIP_FW_QUERY" value="1" />
+    </envs>
+    <option name="SDK_HOME" value="" />
+    <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/selfdrive/car" />
+    <option name="IS_MODULE_SDK" value="true" />
+    <option name="ADD_CONTENT_ROOTS" value="true" />
+    <option name="ADD_SOURCE_ROOTS" value="true" />
+    <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+    <option name="SCRIPT_NAME" value="$PROJECT_DIR$/selfdrive/car/card.py" />
+    <option name="PARAMETERS" value="" />
+    <option name="SHOW_COMMAND_LINE" value="false" />
+    <option name="EMULATE_TERMINAL" value="true" />
+    <option name="MODULE_MODE" value="false" />
+    <option name="REDIRECT_INPUT" value="false" />
+    <option name="INPUT_FILE" value="" />
+    <method v="2" />
+  </configuration>
+</component>

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

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Replay for controls + ui" type="Multirun" separateTabs="false" reuseTabsWithFailures="false" startOneByOne="true" markFailedProcess="true" hideSuccessProcess="false" delayTime="0.0">
+    <runConfiguration name="replay for controls" type="Native Application" />
+    <runConfiguration name="Build Debug" type="Custom Build Application" />
+    <method v="2" />
+  </configuration>
+</component>

.run/replay for controls.run.xml

@@ -0,0 +1,7 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="replay for controls" type="CLionNativeAppRunConfigurationType" focusToolWindowBeforeRun="true" PROGRAM_PARAMS="&quot;$Prompt$&quot; --block &quot;sendcan,carState,carParams,carOutput,liveTracks,carParamsSP,carStateSP,bookmarkButton&quot;" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="true" WORKING_DIR="file://$ProjectFileDir$/tools/replay" PASS_PARENT_ENVS_2="true" PROJECT_NAME="openpilot-special" TARGET_NAME="replay" CONFIG_NAME="replay" version="1" RUN_PATH="replay">
+    <method v="2">
+      <option name="CLION.COMPOUND.BUILD" enabled="true" />
+    </method>
+  </configuration>
+</component>

common/params_keys.h

@@ -260,4 +260,11 @@ 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"}},
 };

scripts/lint/lint.sh

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

selfdrive/ui/sunnypilot/SConscript

@@ -52,6 +52,7 @@ lateral_panel_qt_src = [
   "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
+  "sunnypilot/qt/offroad/settings/lateral/angle_tuning_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
   "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_custom_params.cc",
   "sunnypilot/qt/offroad/settings/lateral/torque_lateral_control_settings.cc",

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

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

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

@@ -0,0 +1,39 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+class AngleTunningSettings : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit AngleTunningSettings(QWidget *parent = nullptr);
+
+  void showEvent(QShowEvent *event) override;
+
+signals:
+  void backPress();
+
+public slots:
+  void updateToggles(bool _offroad);
+
+private:
+  Params params;
+  bool offroad;
+
+  ExpandableToggleRow* enableHkgAngleSmoothingFactor;
+  OptionControlSP* hkgAngleMinTorque;
+  OptionControlSP* hkgAngleActiveTorque;
+  OptionControlSP* hkgAngleMaxTorque;
+  OptionControlSP* hkgTuningOverridingCycles;
+};

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

@@ -120,6 +120,36 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
     updateToggles(offroad);
   });
 
+#pragma region hkg angle tuning
+  list->addItem(vertical_space());
+  list->addItem(horizontal_line());
+  list->addItem(vertical_space());
+
+  // HKG Angle Tuning
+  // angleTuningToggle = new ParamControl(
+  //   "AngleTuning",
+  //   tr("Modular Assistive Driving System (MADS)"),
+  //   tr("Enable the beloved MADS feature. Disable toggle to revert back to stock sunnypilot engagement/disengagement."),
+  //   "");
+  // angleTuningToggle->setConfirmation(true, false);
+  // list->addItem(angleTuningToggle);
+
+  angleTuningSettingsButton = new PushButtonSP(tr("Customize ANGLE Tuning"));
+  angleTuningSettingsButton->setObjectName("angle_btn");
+  connect(angleTuningSettingsButton, &QPushButton::clicked, [=]() {
+    sunnypilotScroller->setLastScrollPosition();
+    main_layout->setCurrentWidget(angleTuningWidget);
+  });
+  // QObject::connect(angleTuningToggle, &ToggleControl::toggleFlipped, angleTuningSettingsButton, &PushButtonSP::setEnabled);
+
+  angleTuningWidget = new AngleTunningSettings(this);
+  connect(angleTuningWidget, &AngleTunningSettings::backPress, [=]() {
+    sunnypilotScroller->restoreScrollPosition();
+    main_layout->setCurrentWidget(sunnypilotScreen);
+  });
+  list->addItem(angleTuningSettingsButton);
+#pragma endregion
+
   QObject::connect(uiState(), &UIState::offroadTransition, this, &LateralPanel::updateToggles);
 
   sunnypilotScroller = new ScrollViewSP(list, this);
@@ -127,6 +157,7 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
 
   main_layout->addWidget(sunnypilotScreen);
   main_layout->addWidget(madsWidget);
+  main_layout->addWidget(angleTuningWidget);
   main_layout->addWidget(laneChangeWidget);
   main_layout->addWidget(torqueLateralControlWidget);
 
@@ -188,6 +219,7 @@ void LateralPanel::updateToggles(bool _offroad) {
 
   madsToggle->setEnabled(_offroad);
   madsSettingsButton->setEnabled(madsToggle->isToggled());
+  // angleTuningSettingsButton->setEnabled(angleTuningToggle->isToggled());
 
   torqueLateralControlToggle->setEnabled(_offroad && torque_allowed && !nnlcToggle->isToggled());
   torqueLateralControlSettingsButton->setEnabled(torqueLateralControlToggle->isToggled());

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

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

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

@@ -188,7 +188,6 @@ void LongitudinalPanel::refresh(bool _offroad) {
         customAccIncrement->setDescription(accEnabledDescription);
       }
     } else {
-      customAccIncrement->toggleFlipped(false);
       customAccIncrement->setDescription(accNoLongDescription);
       customAccIncrement->showDescription();
     }

sunnypilot/sunnylink/athena/sunnylinkd.py

@@ -16,8 +16,9 @@ from functools import partial
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware.hw import Paths
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler, stat_handler
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection, WebSocketConnectionClosedException)
 
@@ -51,7 +52,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
               threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
               # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
-              # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
+              threading.Thread(target=stat_handler, args=(end_event, Paths.stats_sp_root()), name='stat_handler'),
             ] + [
               threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
               for x in range(HANDLER_THREADS)

sunnypilot/sunnylink/statsd.py

@@ -0,0 +1,259 @@
+#!/usr/bin/env python3
+import base64
+import json
+import os
+import threading
+import traceback
+
+import zmq
+import time
+import uuid
+from pathlib import Path
+from collections import defaultdict
+from datetime import datetime, UTC
+
+from openpilot.common.params import Params
+from cereal.messaging import SubMaster
+from openpilot.system.hardware.hw import Paths
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import HARDWARE
+from openpilot.common.file_helpers import atomic_write_in_dir
+from openpilot.system.version import get_build_metadata
+from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
+from openpilot.system.statsd import METRIC_TYPE, StatLogSP
+from openpilot.common.realtime import Ratekeeper
+
+
+def sp_stats(end_event):
+  """Collect sunnypilot-specific statistics and send as raw metrics."""
+  rk = Ratekeeper(.1, print_delay_threshold=None)
+  statlogsp = StatLogSP(intercept=False)
+  params = Params()
+
+  def flatten_dict(d, parent_key='', sep='.'):
+    items = {}
+    for k, v in d.items():
+      new_key = f"{parent_key}{sep}{k}" if parent_key else k
+      if isinstance(v, dict):
+        items.update(flatten_dict(v, new_key, sep=sep))
+      else:
+        items[new_key] = v
+    return items
+
+  # Collect sunnypilot parameters
+  stats_dict = {}
+
+  param_keys = [
+    'SunnylinkEnabled',
+    'AutoLaneChangeBsmDelay',
+    'AutoLaneChangeTimer',
+    'CarPlatformBundle',
+    'DevUIInfo',
+    'EnableCopyparty',
+    'IntelligentCruiseButtonManagement',
+    'QuietMode',
+    'RainbowMode',
+    'ShowAdvancedControls',
+    'Mads',
+    'MadsMainCruiseAllowed',
+    'MadsSteeringMode',
+    'MadsUnifiedEngagementMode',
+    'ModelManager_Favs',
+    'EnableSunnylinkUploader',
+    'SunnylinkEnabled',
+    'InstallDate',
+    'UptimeOffroad',
+    'UptimeOnroad',
+  ]
+
+  while not end_event.is_set():
+    try:
+      for key in param_keys:
+
+        try:
+          value = params.get(key)
+        except Exception as e:
+          stats_dict[key] = e
+          continue
+
+        if value is None:
+          continue
+
+        if isinstance(value, dict):
+          stats_dict.update(flatten_dict(value, key))
+        else:
+          stats_dict[key] = value
+
+      if stats_dict:
+        statlogsp.raw('sunnypilot_params', stats_dict)
+    except Exception as e:
+      cloudlog.error(f"Exception {e}")
+    finally:
+      rk.keep_time()
+
+
+def stats_main(end_event):
+  comma_dongle_id = Params().get("DongleId")
+  sunnylink_dongle_id = Params().get("SunnylinkDongleId")
+
+  def get_influxdb_line(measurement: str, value: float | dict[str, float], timestamp: datetime, tags: dict) -> str:
+    res = f"{measurement}"
+    for k, v in tags.items():
+      res += f",{k}={str(v)}"
+    res += " "
+
+    if isinstance(value, float):
+      value = {'value': value}
+
+    for k, v in value.items():
+      res += f"{k}={str(v)},"
+
+    res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
+    return res
+
+  def get_influxdb_line_raw(measurement: str, value: dict[str, float], timestamp: datetime, tags: dict) -> str:
+    res = f"{measurement}"
+    for k, v in tags.items():
+      res += f",{k}={str(v)}"
+    res += " "
+
+    for k, v in value.items():
+      res += f"{k}=\"{str(v)}\","
+
+    res += f"sunnylink_dongle_id=\"{sunnylink_dongle_id}\",comma_dongle_id=\"{comma_dongle_id}\" {int(timestamp.timestamp() * 1e9)}\n"
+    return res
+
+  # open statistics socket
+  ctx = zmq.Context.instance()
+  sock = ctx.socket(zmq.PULL)
+  sock.bind(f"{STATS_SOCKET}_sp")
+
+  STATS_DIR = Paths.stats_sp_root()
+
+  # initialize stats directory
+  Path(STATS_DIR).mkdir(parents=True, exist_ok=True)
+
+  build_metadata = get_build_metadata()
+
+  # initialize tags
+  tags = {
+    'started': False,
+    'version': build_metadata.openpilot.version,
+    'branch': build_metadata.channel,
+    'dirty': build_metadata.openpilot.is_dirty,
+    'origin': build_metadata.openpilot.git_normalized_origin,
+    'deviceType': HARDWARE.get_device_type(),
+  }
+
+  # subscribe to deviceState for started state
+  sm = SubMaster(['deviceState'])
+
+  idx = 0
+  boot_uid = str(uuid.uuid4())[:8]
+  last_flush_time = time.monotonic()
+  gauges = {}
+  samples: dict[str, list[float]] = defaultdict(list)
+  raws: dict = defaultdict()
+  try:
+    while not end_event.is_set():
+      started_prev = sm['deviceState'].started
+      sm.update()
+
+      # Update metrics
+      while True:
+        try:
+          metric = sock.recv_string(zmq.NOBLOCK)
+          try:
+            metric_type = metric.split('|')[1]
+            metric_name = metric.split(':')[0]
+            metric_value_raw = metric.split('|')[0].split(':')[1]
+
+            if metric_type == METRIC_TYPE.GAUGE:
+              metric_value = float(metric_value_raw)
+              gauges[metric_name] = metric_value
+            elif metric_type == METRIC_TYPE.SAMPLE:
+              metric_value = float(metric_value_raw)
+              samples[metric_name].append(metric_value)
+            elif metric_type == METRIC_TYPE.RAW:
+              raws[metric_name] = metric_value_raw
+            else:
+              cloudlog.event("unknown metric type", metric_type=metric_type)
+          except Exception:
+            print(traceback.format_exc())
+            cloudlog.event("malformed metric", metric=metric)
+        except zmq.error.Again:
+          break
+
+      # flush when started state changes or after FLUSH_TIME_S
+      if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
+        result = ""
+        current_time = datetime.now(UTC)
+        tags['started'] = sm['deviceState'].started
+
+        for key, value in raws.items():
+          decoded_value = json.loads(base64.b64decode(value).decode('utf-8'))
+          result += get_influxdb_line_raw(key, decoded_value, current_time, tags)
+
+        for key, value in gauges.items():
+          result += get_influxdb_line(f"gauge.{key}", value, current_time, tags)
+
+        for key, values in samples.items():
+          values.sort()
+          sample_count = len(values)
+          sample_sum = sum(values)
+
+          stats = {
+            'count': sample_count,
+            'min': values[0],
+            'max': values[-1],
+            'mean': sample_sum / sample_count,
+          }
+          for percentile in [0.05, 0.5, 0.95]:
+            value = values[int(round(percentile * (sample_count - 1)))]
+            stats[f"p{int(percentile * 100)}"] = value
+
+          result += get_influxdb_line(f"sample.{key}", stats, current_time, tags)
+
+        # clear intermediate data
+        gauges.clear()
+        samples.clear()
+        last_flush_time = time.monotonic()
+
+        # check that we aren't filling up the drive
+        if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
+          if len(result) > 0:
+            stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
+            with atomic_write_in_dir(stats_path) as f:
+              f.write(result)
+            idx += 1
+        else:
+          cloudlog.error("stats dir full")
+  finally:
+    sock.close()
+    ctx.term()
+
+
+def main():
+  rk = Ratekeeper(1, print_delay_threshold=None)
+  end_event = threading.Event()
+
+  threads = [
+    threading.Thread(target=stats_main, args=(end_event,)),
+    threading.Thread(target=sp_stats, args=(end_event,)),
+  ]
+
+  for t in threads:
+    t.start()
+
+  try:
+    while all(t.is_alive() for t in threads):
+      rk.keep_time()
+  finally:
+    end_event.set()
+
+  for t in threads:
+    t.join()
+
+
+if __name__ == "__main__":
+  main()

system/athena/athenad.py

@@ -744,17 +744,17 @@ def log_handler(end_event: threading.Event, log_attr_name=LOG_ATTR_NAME) -> None
       cloudlog.exception("athena.log_handler.exception")
 
 
-def stat_handler(end_event: threading.Event) -> None:
-  STATS_DIR = Paths.stats_root()
+def stat_handler(end_event: threading.Event, stats_dir=None) -> None:
+  stats_dir = stats_dir or Paths.stats_root()
   last_scan = 0.0
 
   while not end_event.is_set():
     curr_scan = time.monotonic()
     try:
       if curr_scan - last_scan > 10:
-        stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR)))
+        stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(stats_dir)))
         if len(stat_filenames) > 0:
-          stat_path = os.path.join(STATS_DIR, stat_filenames[0])
+          stat_path = os.path.join(stats_dir, stat_filenames[0])
           with open(stat_path) as f:
             jsonrpc = {
               "method": "storeStats",

system/hardware/hw.py

@@ -55,6 +55,13 @@ class Paths:
     else:
       return "/data/stats/"
 
+  @staticmethod
+  def stats_sp_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "stats")
+    else:
+      return "/data/stats_sp/"
+
   @staticmethod
   def config_root() -> str:
     if PC:

system/manager/process_config.py

@@ -164,6 +164,7 @@ procs = [
   # sunnylink <3
   DaemonProcess("manage_sunnylinkd", "sunnypilot.sunnylink.athena.manage_sunnylinkd", "SunnylinkdPid"),
   PythonProcess("sunnylink_registration_manager", "sunnypilot.sunnylink.registration_manager", sunnylink_need_register_shim),
+  PythonProcess("statsd_sp", "sunnypilot.sunnylink.statsd", and_(always_run, sunnylink_ready_shim)),
 ]
 
 # sunnypilot

system/statsd.py

@@ -1,11 +1,15 @@
 #!/usr/bin/env python3
+import base64
+import json
 import os
+from decimal import Decimal
+
 import zmq
 import time
 import uuid
 from pathlib import Path
 from collections import defaultdict
-from datetime import datetime, UTC
+from datetime import datetime, UTC, date
 from typing import NoReturn
 
 from openpilot.common.params import Params
@@ -21,18 +25,21 @@ from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET,
 class METRIC_TYPE:
   GAUGE = 'g'
   SAMPLE = 'sa'
+  RAW = 'r'
+
 
 class StatLog:
   def __init__(self):
     self.pid = None
     self.zctx = None
     self.sock = None
+    self.stats_socket = STATS_SOCKET
 
   def connect(self) -> None:
-    self.zctx = zmq.Context()
+    self.zctx = zmq.Context.instance() or zmq.Context()
     self.sock = self.zctx.socket(zmq.PUSH)
     self.sock.setsockopt(zmq.LINGER, 10)
-    self.sock.connect(STATS_SOCKET)
+    self.sock.connect(self.stats_socket)
     self.pid = os.getpid()
 
   def __del__(self):
@@ -60,6 +67,50 @@ class StatLog:
     self._send(f"{name}:{value}|{METRIC_TYPE.SAMPLE}")
 
 
+class StatLogSP(StatLog):
+  def __init__(self, intercept=True):
+    """
+    Initializes the class instance with an optional parameter to determine
+    if statistical logging should be configured or not.
+
+    :param intercept: A boolean flag that indicates whether to initialize
+        the `comma_statlog`. If True, the `comma_statlog` attribute is
+        instantiated as a `StatLog` object. Defaults to True.
+    """
+    super().__init__()
+    self.comma_statlog = StatLog() if intercept else None
+    self.stats_socket = f"{STATS_SOCKET}_sp"
+
+  def connect(self) -> None:
+    super().connect()
+    if self.comma_statlog:
+      self.comma_statlog.connect()
+
+  def __del__(self):
+    super().__del__()
+    if self.comma_statlog:
+      self.comma_statlog.__del__()
+
+  def _send(self, metric: str) -> None:
+    super()._send(metric)
+    if self.comma_statlog:
+      self.comma_statlog._send(metric)
+
+  @staticmethod
+  def default_converter(obj):
+    if isinstance(obj, (datetime, date)):
+      return obj.isoformat()
+    if isinstance(obj, set):
+      return list(obj)
+    if isinstance(obj, Decimal):
+      return float(obj)
+    return str(obj)  # fallback for unknown types
+
+  def raw(self, name: str, value: dict) -> None:
+    encoded_dict = base64.b64encode(json.dumps(value, default=self.default_converter).encode("utf-8")).decode("utf-8")
+    self._send(f"{name}:{encoded_dict}|{METRIC_TYPE.RAW}")
+
+
 def main() -> NoReturn:
   dongle_id = Params().get("DongleId")
   def get_influxdb_line(measurement: str, value: float | dict[str, float],  timestamp: datetime, tags: dict) -> str:
@@ -180,4 +231,4 @@ def main() -> NoReturn:
 if __name__ == "__main__":
   main()
 else:
-  statlog = StatLog()
+  statlog = StatLogSP(intercept=True)

system/version.py

@@ -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"

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

@@ -0,0 +1,183 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab containers="1" tab_name="actuator data">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.100000" left="301.990881" top="0.100000" right="462.962504"/>
+       <limitY/>
+       <curve name="/carControl/actuators/torque" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-130.920132" left="301.990881" top="103.993176" right="462.962504"/>
+       <limitY/>
+       <curve name="/carControl/actuators/steeringAngleDeg" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.604818" left="301.990881" top="24.797527" right="462.962504"/>
+       <limitY/>
+       <curve name="/carState/vEgoRaw" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.037812" left="301.990881" top="0.047261" right="462.962504"/>
+       <limitY/>
+       <curve name="/carControl/actuators/curvature" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="steering messages (CAN)">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.142857;0.142857;0.142857;0.142857;0.142857;0.142857;0.142857" count="7">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-128.740000" left="301.990881" top="103.940000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/128/LKAS_ALT/ADAS_StrAnglReqVal" color="#29d627"/>
+       <curve name="/can/192/LKAS_ALT/ADAS_StrAnglReqVal" color="#b41f32"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/carState/steeringPressed" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/sendcan/0/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/carState/steerFaultTemporary" color="#d62728"/>
+       <curve name="/carControl/latActive" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-14.375000" left="301.990881" top="589.375000" right="462.962504"/>
+       <limitY/>
+       <curve name="/pandaStates/0/safetyTxBlocked" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Understanding Torque">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-6.175000" left="429.901019" top="253.175000" right="590.696728"/>
+       <limitY/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-24.190000" left="301.990881" top="21.590000" right="462.962504"/>
+       <limitY/>
+       <curve name="/carState/steeringTorqueEps" color="#1ac938"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="tab2">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.25;0.25;0.25;0.25" count="4">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/sendcan/0/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#9467bd"/>
+       <curve name="/can/1/LFA_ALT/ADAS_ACIAnglTqRedcGainVal" color="#17becf"/>
+       <curve name="/can/128/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#1f77b4"/>
+       <curve name="/can/192/LKAS_ALT/ADAS_ACIAnglTqRedcGainVal" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
+       <range bottom="0.975000" left="301.990881" top="2.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/128/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#b8c91a"/>
+       <curve name="/can/192/LKAS_ALT/LKAS_ANGLE_ACTIVE" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range bottom="-0.025000" left="301.990881" top="1.025000" right="462.962504"/>
+       <limitY/>
+       <curve name="/can/1/CCNC_0x161/DAW_ICON" color="#f14cc1"/>
+       <curve name="/carState/steerFaultTemporary" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Dots">
+       <range bottom="-14.375000" left="301.990881" top="589.375000" right="462.962504"/>
+       <limitY/>
+       <curve name="/pandaStates/0/safetyTxBlocked" color="#bcbd22"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="3"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

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

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

tools/plotjuggler/layouts/hkg_angle_control.xml

@@ -0,0 +1,281 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter sizes="0.500397;0.499603" count="2" orientation="-">
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
+       <range top="256.250000" left="0.000000" right="421.102293" bottom="-6.250000"/>
+       <limitY/>
+       <curve color="#1ac938" name="/can/1/LFA_ALT/LKAS_ANGLE_MAX_TORQUE"/>
+       <curve color="#17becf" name="max torque(calc)">
+        <transform name="Moving Average" alias="max torque(calc)[Moving Average]">
+         <options compensate_offset="true" value="10"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" mode="TimeSeries" style="Lines">
+       <range top="2.776497" left="0.000000" right="421.102293" bottom="-2.918548"/>
+       <limitY/>
+       <curve color="#f14cc1" name="desired lat accel"/>
+       <curve color="#888888" name="zero"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis="" delimiter="0"/>
+  </plugin>
+  <plugin ID="DataLoad MCAP"/>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="Cereal Subscriber"/>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="Reactive Script Editor">
+   <library code="--[[ Helper function to create a series from arrays&#xa;&#xa; new_series: a series previously created with ScatterXY.new(name)&#xa; prefix:     prefix of the timeseries, before the index of the array&#xa; suffix_X:   suffix to complete the name of the series containing the X value. If [nil], use the index of the array.&#xa; suffix_Y:   suffix to complete the name of the series containing the Y value&#xa; timestamp:   usually the tracker_time variable&#xa;              &#xa; Example:&#xa; &#xa; Assuming we have multiple series in the form:&#xa; &#xa;   /trajectory/node.{X}/position/x&#xa;   /trajectory/node.{X}/position/y&#xa;   &#xa; where {N} is the index of the array (integer). We can create a reactive series from the array with:&#xa; &#xa;   new_series = ScatterXY.new(&quot;my_trajectory&quot;) &#xa;   CreateSeriesFromArray( new_series, &quot;/trajectory/node&quot;, &quot;position/x&quot;, &quot;position/y&quot;, tracker_time );&#xa;--]]&#xa;&#xa;function CreateSeriesFromArray( new_series, prefix, suffix_X, suffix_Y, timestamp )&#xa;  &#xa;  --- clear previous values&#xa;  new_series:clear()&#xa;  &#xa;  --- Append points to new_series&#xa;  index = 0&#xa;  while(true) do&#xa;&#xa;    x = index;&#xa;    -- if not nil, get the X coordinate from a series&#xa;    if suffix_X ~= nil then &#xa;      series_x = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_X) )&#xa;      if series_x == nil then break end&#xa;      x = series_x:atTime(timestamp)&#x9; &#xa;    end&#xa;    &#xa;    series_y = TimeseriesView.find( string.format( &quot;%s.%d/%s&quot;, prefix, index, suffix_Y) )&#xa;    if series_y == nil then break end &#xa;    y = series_y:atTime(timestamp)&#xa;    &#xa;    new_series:push_back(x,y)&#xa;    index = index+1&#xa;  end&#xa;end&#xa;&#xa;--[[ Similar to the built-in function GetSeriesNames(), but select only the names with a give prefix. --]]&#xa;&#xa;function GetSeriesNamesByPrefix(prefix)&#xa;  -- GetSeriesNames(9 is a built-in function&#xa;  all_names = GetSeriesNames()&#xa;  filtered_names = {}&#xa;  for i, name in ipairs(all_names)  do&#xa;    -- check the prefix&#xa;    if name:find(prefix, 1, #prefix) then&#xa;      table.insert(filtered_names, name);&#xa;    end&#xa;  end&#xa;  return filtered_names&#xa;end&#xa;&#xa;--[[ Modify an existing series, applying offsets to all their X and Y values&#xa;&#xa; series: an existing timeseries, obtained with TimeseriesView.find(name)&#xa; delta_x: offset to apply to each x value&#xa; delta_y: offset to apply to each y value &#xa;  &#xa;--]]&#xa;&#xa;function ApplyOffsetInPlace(series, delta_x, delta_y)&#xa;  -- use C++ indeces, not Lua indeces&#xa;  for index=0, series:size()-1 do&#xa;    x,y = series:at(index)&#xa;    series:set(index, x + delta_x, y + delta_y)&#xa;  end&#xa;end&#xa;"/>
+   <scripts/>
+  </plugin>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <previouslyLoaded_Datafiles>
+  <fileInfo prefix="" filename="../tmpa_e8kwpj.rlog">
+   <selected_datasources value=""/>
+  </fileInfo>
+ </previouslyLoaded_Datafiles>
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="zero">
+   <global>min=0
+max=250
+max_from_speed=96
+
+rate_lim = 500
+
+la_deadzone = 0.38
+
+k1=200
+k2=20
+k3=1.0
+k4=1
+k5=10
+
+old = 0
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end
+
+function apply_rate_limit(old, new, limit)
+    return math.min(math.max(new, old - limit), old + limit)
+end
+
+function apply_deadzone(val, deadzone)
+    if math.abs(val) &lt;= deadzone then
+        return 0.0
+    elseif val &lt; 0.0 then
+        return val + deadzone
+    else
+        return val - deadzone
+    end
+end</global>
+   <function>return 0</function>
+   <linked_source>/carState/aEgo</linked_source>
+  </snippet>
+  <snippet name="max torque lj adj">
+   <global>min=0
+max=250
+max_from_speed=96
+
+k1=200
+k2=30
+k3=1    
+k4=1
+k5=10
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end</global>
+   <function>return 250 - value * 20</function>
+   <linked_source>desired lateral jark</linked_source>
+  </snippet>
+  <snippet name="ang_cmd rate">
+   <global>firstX = 0
+firstY = 0
+is_first = true
+secondX = 0
+secondY = 0
+is_second = false</global>
+   <function>-- Wait for initial values
+if (is_first) then
+  is_first = false
+  is_second = true
+  firstX = time
+  firstY = value
+end
+
+if (is_second) then
+  is_second = false
+  secondX = time
+  secondY = value
+end
+
+-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
+dx = time - firstX
+dy = value - firstY
+-- Increment
+firstX = secondX
+firstY = secondY
+secondX = time
+secondY = value
+
+return dy/dx</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+  </snippet>
+  <snippet name="max torque(calc)">
+   <global>min=0
+max=250
+max_from_speed=96
+
+rate_lim = 500
+
+la_deadzone = 0.38
+
+k1=200
+k2=20
+k3=1.0
+k4=1
+k5=10
+
+old = 0
+
+function sign(number)
+    return number > 0 and 1 or (number == 0 and 0 or -1)
+end
+
+function apply_rate_limit(old, new, limit)
+    return math.min(math.max(new, old - limit), old + limit)
+end
+
+function apply_deadzone(val, deadzone)
+    if math.abs(val) &lt;= deadzone then
+        return 0.0
+    elseif val &lt; 0.0 then
+        return val + deadzone
+    else
+        return val - deadzone
+    end
+end</global>
+   <function>la = apply_deadzone(v2, la_deadzone)
+lj = v3
+
+if la == 0.0 then
+    lj = 0.0
+end
+
+fla = math.min(math.abs(k1 * la)^k3, max)
+flj = math.min(math.abs(k2 * lj)^k4, max)
+
+out = fla
+
+flv = math.min(max_from_speed, k5 * v4)
+
+out = out + flv
+
+out = math.max(math.min(out, max), min)
+
+if sign(la) == sign(lj) then
+    out = out - flj
+else
+    out = out + flj
+end
+
+
+if v5 == 1.0 then
+    out = 0.0
+end
+
+out = math.max(math.min(out, max), min)
+out = apply_rate_limit(old, out, rate_lim)
+old = out
+
+return out</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+   <additional_sources>
+    <v1>ang_cmd rate</v1>
+    <v2>desired lat accel</v2>
+    <v3>desired lateral jark</v3>
+    <v4>/carState/vEgo</v4>
+    <v5>/can/1/LFA_ALT/LKAS_ANGLE_ACTIVE</v5>
+   </additional_sources>
+  </snippet>
+  <snippet name="desired lateral jark">
+   <global>firstX = 0
+firstY = 0
+is_first = true
+secondX = 0
+secondY = 0
+is_second = false</global>
+   <function>-- Wait for initial values
+if (is_first) then
+  is_first = false
+  is_second = true
+  firstX = time
+  firstY = value
+end
+
+if (is_second) then
+  is_second = false
+  secondX = time
+  secondY = value
+end
+
+-- Central derivative: dy/dx ~= f(x+delta_x)-f(x-delta_x)/(2*delta_x)
+dx = time - firstX
+dy = value - firstY
+-- Increment
+firstX = secondX
+firstY = secondY
+secondX = time
+secondY = value
+
+return dy/dx</function>
+   <linked_source>desired lat accel</linked_source>
+  </snippet>
+  <snippet name="abs(des la accel)">
+   <global></global>
+   <function>return math.abs(value)</function>
+   <linked_source>desired lat accel</linked_source>
+  </snippet>
+  <snippet name="desired lat accel">
+   <global></global>
+   <function>return value * v1^2</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+   </additional_sources>
+  </snippet>
+  <snippet name="abs(ang_cmd)">
+   <global></global>
+   <function>return math.abs(value)</function>
+   <linked_source>/can/1/LFA_ALT/LKAS_ANGLE_CMD</linked_source>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

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

@@ -0,0 +1,175 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <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>
+