From f62763bfc4b230680387188c5774277b692ecd9a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 1 Nov 2024 13:42:36 -0700
Subject: [PATCH] add actuators output

---
 tools/plotjuggler/layouts/longitudinal.xml | 33 ++++++++++++++++------
 1 file changed, 24 insertions(+), 9 deletions(-)

diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/tools/plotjuggler/layouts/longitudinal.xml
index 33a24f76d66d7c..06a78a25a9b587 100644
--- a/tools/plotjuggler/layouts/longitudinal.xml
+++ b/tools/plotjuggler/layouts/longitudinal.xml
@@ -3,19 +3,20 @@
  <tabbed_widget name="Main Window" parent="main_window">
   <Tab tab_name="tab1" containers="1">
    <Container>
-    <DockSplitter orientation="-" sizes="0.250401;0.249599;0.250401;0.249599" count="4">
+    <DockSplitter count="4" sizes="0.250726;0.24879;0.251694;0.24879" orientation="-">
      <DockArea name="...">
-      <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="126.285782" top="1.391623" left="104.907277" bottom="-2.563614"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="20.929753" bottom="-3.596659" top="0.462999" right="38.879028"/>
        <limitY/>
        <curve name="/carState/aEgo" color="#f14cc1"/>
        <curve name="/longitudinalPlan/accels/0" color="#9467bd"/>
        <curve name="/carControl/actuators/accel" color="#17becf"/>
+       <curve name="/carOutput/actuatorsOutput/accel" color="#d62728"/>
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="126.285782" top="1.184960" left="104.907277" bottom="-1.811222" />
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="20.929753" bottom="-3.235835" top="0.215767" right="38.879028"/>
        <limitY/>
        <curve name="/controlsState/upAccelCmd" color="#1f77b4"/>
        <curve name="/controlsState/uiAccelCmd" color="#d62728"/>
@@ -23,16 +24,16 @@
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="126.285782" top="15.862889" left="104.907277" bottom="-0.568809" />
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="20.929753" bottom="-0.341797" top="13.490832" right="38.879028"/>
        <limitY/>
        <curve name="/carState/vEgo" color="#1ac938"/>
        <curve name="/longitudinalPlan/speeds/0" color="#ff7f0e"/>
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_y="false" flip_x="false" mode="TimeSeries" style="Lines">
-       <range right="126.285782" top="1.025000" left="104.907277" bottom="-0.025000" />
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="20.929753" bottom="0.233449" top="0.562950" right="38.879028"/>
        <limitY/>
        <curve name="/carControl/longActive" color="#1f77b4"/>
        <curve name="/carState/gasPressed" color="#d62728"/>
@@ -47,8 +48,22 @@
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->
  <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default delimiter="0" time_axis=""/>
+  </plugin>
   <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>
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->