plotjuggler: add max torque layout

old-commit-hash: 20c140b10e

tools/plotjuggler/layouts/max-torque-debug.xml

@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter orientation="-" count="4" sizes="0.249724;0.250829;0.249724;0.249724">
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
+       <range left="0.000450" top="6.050533" right="2483.624998" bottom="-7.599037"/>
+       <limitY/>
+       <curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
+       <curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
+       <range left="0.000450" top="5.384416" right="2483.624998" bottom="-7.503945"/>
+       <limitY/>
+       <curve color="#1ac938" name="roll compenstated lateral acceleration"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
+       <range left="0.000450" top="1.050000" right="2483.624998" bottom="-1.050000"/>
+       <limitY/>
+       <curve color="#0097ff" name="/carState/steeringPressed"/>
+       <curve color="#d62728" name="/carControl/actuatorsOutput/steer"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
+       <range left="0.000450" top="80.762969" right="2483.624998" bottom="-2.181837"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/carState/vEgo">
+        <transform alias="/carState/vEgo[Scale/Offset]" name="Scale/Offset">
+         <options value_offset="0" time_offset="0" value_scale="2.23694"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <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">
+   <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="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>
+  <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>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+