From 6a58dd808f3e168fe72129b09ca5f829a4c146db Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 7 Jun 2022 15:01:19 -0700
Subject: [PATCH] PlotJuggler: add torque control layout (#24726)

* add torque control PJ layout

* less custom transformation

* Use curvature, less noisy

* remove that
---
 .../plotjuggler/layouts/torque-controller.xml | 88 +++++++++++++++++++
 1 file changed, 88 insertions(+)
 create mode 100644 tools/plotjuggler/layouts/torque-controller.xml

diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml
new file mode 100644
index 0000000000..661bfe094d
--- /dev/null
+++ b/tools/plotjuggler/layouts/torque-controller.xml
@@ -0,0 +1,88 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter count="4" sizes="0.250401;0.249599;0.250401;0.249599" orientation="-">
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range top="4.389691" right="179.991353" bottom="-0.521339" left="0.000000"/>
+       <limitY/>
+       <curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
+       <curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range top="4.066465" right="179.991353" bottom="-0.758832" left="0.000000"/>
+       <limitY/>
+       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
+       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range top="0.921389" right="179.991353" bottom="-0.211878" left="0.000000"/>
+       <limitY/>
+       <curve name="/carControl/actuatorsOutput/steer" color="#9467bd">
+        <transform alias="/carControl/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1" value_offset="0" time_offset="0"/>
+        </transform>
+       </curve>
+       <curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockSplitter count="2" sizes="0.5;0.5" orientation="|">
+      <DockArea name="...">
+       <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+        <range top="1.025000" right="179.991353" bottom="-0.025000" left="0.000000"/>
+        <limitY/>
+        <curve name="/carControl/latActive" color="#1ac938"/>
+        <curve name="/carState/steeringPressed" color="#ff7f0e"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+        <range top="29.131291" right="179.991353" bottom="-0.711681" left="0.000000"/>
+        <limitY/>
+        <curve name="/carState/vEgo" color="#f14cc1"/>
+       </plot>
+      </DockArea>
+     </DockSplitter>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <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>