From 76a4daefffe0462162b984aae7baba25866903bb Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 16 Aug 2022 13:16:11 -0700
Subject: [PATCH] pj: update torque control layout

---
 .../plotjuggler/layouts/max-torque-debug.xml  |  6 --
 .../plotjuggler/layouts/torque-controller.xml | 60 ++++++++++---------
 2 files changed, 32 insertions(+), 34 deletions(-)

diff --git a/tools/plotjuggler/layouts/max-torque-debug.xml b/tools/plotjuggler/layouts/max-torque-debug.xml
index 05aa208e26..6903ca8b15 100644
--- a/tools/plotjuggler/layouts/max-torque-debug.xml
+++ b/tools/plotjuggler/layouts/max-torque-debug.xml
@@ -51,12 +51,6 @@
   <plugin ID="Cereal Subscriber"/>
  </Plugins>
  <!-- - - - - - - - - - - - - - - -->
- <previouslyLoaded_Datafiles>
-  <fileInfo filename="../tmp2db6nfa2.rlog" prefix="">
-   <selected_datasources value=""/>
-   <plugin ID="DataLoad Rlog"/>
-  </fileInfo>
- </previouslyLoaded_Datafiles>
  <!-- - - - - - - - - - - - - - - -->
  <customMathEquations>
   <snippet name="roll compenstated lateral acceleration">
diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml
index 661bfe094d..443255968a 100644
--- a/tools/plotjuggler/layouts/torque-controller.xml
+++ b/tools/plotjuggler/layouts/torque-controller.xml
@@ -1,12 +1,12 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <root>
- <tabbed_widget parent="main_window" name="Main Window">
+ <tabbed_widget name="Main Window" parent="main_window">
   <Tab tab_name="tab1" containers="1">
    <Container>
-    <DockSplitter count="4" sizes="0.250401;0.249599;0.250401;0.249599" orientation="-">
+    <DockSplitter sizes="0.250298;0.250298;0.249106;0.250298" orientation="-" count="4">
      <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"/>
+       <range bottom="-2.900899" top="3.526047" left="825.563261" right="1415.827546"/>
        <limitY/>
        <curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
        <curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
@@ -14,7 +14,7 @@
      </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"/>
+       <range bottom="-4.577789" top="3.642392" left="825.563261" right="1415.827546"/>
        <limitY/>
        <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
        <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
@@ -22,33 +22,26 @@
      </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"/>
+       <range bottom="-1.134948" top="1.052072" left="825.563261" right="1415.827546"/>
        <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 name="Scale/Offset" alias="/carControl/actuatorsOutput/steer[Scale/Offset]">
+         <options time_offset="0" value_scale="-1" value_offset="0"/>
         </transform>
        </curve>
        <curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
+       <curve name="/carState/steeringPressed" color="#ff000f"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range bottom="-1.373608" top="56.208012" left="825.563261" right="1415.827546"/>
+       <limitY/>
+       <curve name="carState.vEgo mph" color="#d62728"/>
+       <curve name="carState.vEgo kmh" color="#1ac938"/>
+       <curve name="/carState/vEgo" color="#ff7f0e"/>
       </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>
@@ -64,19 +57,29 @@
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->
  <customMathEquations>
-  <snippet name="Actual lateral accel (roll compensated)">
+  <snippet name="carState.vEgo kmh">
+   <global></global>
+   <function>return value * 3.6</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
+  <snippet name="carState.vEgo mph">
+   <global></global>
+   <function>return value * 2.23694</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
+  <snippet name="Desired lateral accel (roll compensated)">
    <global></global>
    <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
     <v2>/liveParameters/roll</v2>
    </additional_sources>
   </snippet>
-  <snippet name="Desired lateral accel (roll compensated)">
+  <snippet name="Actual lateral accel (roll compensated)">
    <global></global>
    <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <linked_source>/controlsState/curvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
     <v2>/liveParameters/roll</v2>
@@ -86,3 +89,4 @@
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
+