Release 260111

tools/plotjuggler/README.md

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+# PlotJuggler
+
+[PlotJuggler](https://github.com/facontidavide/PlotJuggler) is a tool to quickly visualize time series data, and we've written plugins to parse openpilot logs. Check out our plugins: https://github.com/commaai/PlotJuggler.
+
+## Installation
+
+Once you've [set up the openpilot environment](../README.md), this command will download PlotJuggler and install our plugins:
+
+`cd tools/plotjuggler && ./juggle.py --install`
+
+## Usage
+
+```
+$ ./juggle.py -h
+usage: juggle.py [-h] [--demo] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC]
+                 [route_or_segment_name] [segment_count]
+
+A helper to run PlotJuggler on openpilot routes
+
+positional arguments:
+  route_or_segment_name
+                        The route or segment name to plot (cabana share URL accepted) (default: None)
+  segment_count         The number of segments to plot (default: None)
+
+optional arguments:
+  -h, --help            show this help message and exit
+  --demo                Use the demo route instead of providing one (default: False)
+  --can                 Parse CAN data (default: False)
+  --stream              Start PlotJuggler in streaming mode (default: False)
+  --layout [LAYOUT]     Run PlotJuggler with a pre-defined layout (default: None)
+  --install             Install or update PlotJuggler + plugins (default: False)
+  --dbc DBC             Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically
+                        inferred from the logs. (default: None)
+
+```
+
+Examples using route name:
+
+`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19"`
+
+Examples using segment range:
+
+`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1"`
+
+`./juggle.py "a2a0ccea32023010/2023-07-27--13-01-19/1/q" # use qlogs`
+
+## Streaming
+
+Explore live data from your car! Follow these steps to stream from your comma device to your laptop:
+- Enable wifi tethering on your comma device
+- [SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and run `cd /data/openpilot && ./cereal/messaging/bridge`
+- On your laptop, connect to the device's wifi hotspot
+- Start PlotJuggler with `ZMQ=1 ./juggle.py --stream`, find the `Cereal Subscriber` plugin in the dropdown under Streaming, and click `Start`.
+
+If streaming to PlotJuggler from a replay on your PC, simply run: `./juggle.py --stream` and start the cereal subscriber.
+
+## Demo
+
+For a quick demo, go through the installation step and run this command:
+
+`./juggle.py --demo --layout=layouts/tuning.xml`
+
+## Layouts
+
+If you create a layout that's useful for others, consider upstreaming it.
+
+### Tuning
+
+Use this layout to improve your car's tuning and generate plots for tuning PRs. Also see the [tuning wiki](https://github.com/commaai/openpilot/wiki/Tuning) and tuning PR template.
+
+`--layout layouts/tuning.xml`
+
+
+![screenshot](https://i.imgur.com/cizHCH3.png)

tools/plotjuggler/juggle.py

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+#!/usr/bin/env python3
+import os
+import sys
+import platform
+import shutil
+import subprocess
+import tarfile
+import tempfile
+import requests
+import argparse
+from functools import partial
+
+from opendbc.car.fingerprints import MIGRATION
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.swaglog import cloudlog
+from openpilot.tools.cabana.dbc.generate_dbc_json import generate_dbc_dict
+from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log
+from openpilot.selfdrive.test.process_replay.migration import migrate_all
+
+juggle_dir = os.path.dirname(os.path.realpath(__file__))
+
+os.environ['LD_LIBRARY_PATH'] = os.environ.get('LD_LIBRARY_PATH', '') + f":{juggle_dir}/bin/"
+
+DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+RELEASES_URL = "https://github.com/commaai/PlotJuggler/releases/download/latest"
+INSTALL_DIR = os.path.join(juggle_dir, "bin")
+PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
+MINIMUM_PLOTJUGGLER_VERSION = (3, 5, 2)
+MAX_STREAMING_BUFFER_SIZE = 1000
+
+
+def install():
+  m = f"{platform.system()}-{platform.machine()}"
+  supported = ("Linux-x86_64", "Linux-aarch64", "Darwin-arm64", "Darwin-x86_64")
+  if m not in supported:
+    raise Exception(f"Unsupported platform: '{m}'. Supported platforms: {supported}")
+
+  if os.path.exists(INSTALL_DIR):
+    shutil.rmtree(INSTALL_DIR)
+  os.mkdir(INSTALL_DIR)
+
+  url = os.path.join(RELEASES_URL, m + ".tar.gz")
+  with requests.get(url, stream=True, timeout=10) as r, tempfile.NamedTemporaryFile() as tmp:
+    r.raise_for_status()
+    with open(tmp.name, 'wb') as tmpf:
+      for chunk in r.iter_content(chunk_size=1024 * 1024):
+        tmpf.write(chunk)
+
+    with tarfile.open(tmp.name) as tar:
+      tar.extractall(path=INSTALL_DIR)
+
+
+def get_plotjuggler_version():
+  out = subprocess.check_output([PLOTJUGGLER_BIN, "-v"], encoding="utf-8").strip()
+  version = out.split(" ")[1]
+  return tuple(map(int, version.split(".")))
+
+
+def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, platform=None):
+  env = os.environ.copy()
+  env["BASEDIR"] = BASEDIR
+  env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
+  if dbc:
+    env["DBC_NAME"] = dbc
+
+  extra_args = ""
+  if fn is not None:
+    extra_args += f" -d {fn}"
+  if layout is not None:
+    extra_args += f" -l {layout}"
+  if route_or_segment_name is not None:
+    extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\""
+
+  cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}'
+  subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
+
+
+def process(can, lr):
+  return [d for d in lr if can or d.which() not in ['can', 'sendcan'] and not d.which().startswith('customReserved')]
+
+
+def juggle_route(route_or_segment_name, can, layout, dbc, should_migrate):
+  lr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE)
+
+  all_data = lr.run_across_segments(24, partial(process, can))
+  if should_migrate:
+    all_data = migrate_all(all_data)
+
+  # Infer DBC name from logs
+  platform = None
+  if dbc is None:
+    try:
+      CP = lr.first('carParams')
+      platform = MIGRATION.get(CP.carFingerprint, CP.carFingerprint)
+      dbc = generate_dbc_dict()[platform]
+    except Exception:
+      cloudlog.exception("Failed to get DBC name from logs!")
+
+  with tempfile.NamedTemporaryFile(suffix='.rlog', dir=juggle_dir) as tmp:
+    save_log(tmp.name, all_data, compress=False)
+    del all_data
+    start_juggler(tmp.name, dbc, layout, route_or_segment_name, platform)
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="A helper to run PlotJuggler on openpilot routes",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
+  parser.add_argument("--can", action="store_true", help="Parse CAN data")
+  parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode")
+  parser.add_argument("--no-migration", action="store_true", help="Do not perform log migration")
+  parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout")
+  parser.add_argument("--install", action="store_true", help="Install or update PlotJuggler + plugins")
+  parser.add_argument("--dbc", help="Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically inferred from the logs.")
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)")
+
+  if len(sys.argv) == 1:
+    parser.print_help()
+    sys.exit()
+  args = parser.parse_args()
+
+  if args.install:
+    install()
+    sys.exit()
+
+  if not os.path.exists(PLOTJUGGLER_BIN):
+    print("PlotJuggler is missing. Downloading...")
+    install()
+
+  if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION:
+    print("PlotJuggler is out of date. Installing update...")
+    install()
+
+  if args.stream:
+    start_juggler(layout=args.layout)
+  else:
+    route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
+    juggle_route(route_or_segment_name, args.can, args.layout, args.dbc, not args.no_migration)

tools/plotjuggler/layouts/CAN-bus-debug.xml

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+<?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="0.33362;0.33276;0.33362" count="3" orientation="-">
+     <DockArea name="CAN RX">
+      <plot style="Lines" flip_y="false" mode="TimeSeries" flip_x="false">
+       <range top="1101.875000" left="0.000000" bottom="-26.875000" right="60.526742"/>
+       <limitY/>
+       <curve name="/pandaStates/0/canState0/totalRxCnt" color="#f14cc1">
+        <transform alias="/pandaStates/0/canState0/totalRxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState1/totalRxCnt" color="#9467bd">
+        <transform alias="/pandaStates/0/canState1/totalRxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState2/totalRxCnt" color="#ff7f0e">
+        <transform alias="/pandaStates/0/canState2/totalRxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="CAN TX">
+      <plot style="Lines" flip_y="false" mode="TimeSeries" flip_x="false">
+       <range top="455.100000" left="0.000000" bottom="-11.100000" right="60.526742"/>
+       <limitY/>
+       <curve name="/pandaStates/0/canState0/totalTxCnt" color="#17becf">
+        <transform alias="/pandaStates/0/canState0/totalTxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState1/totalTxCnt" color="#bcbd22">
+        <transform alias="/pandaStates/0/canState1/totalTxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState2/totalTxCnt" color="#1f77b4">
+        <transform alias="/pandaStates/0/canState2/totalTxCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="CAN errors">
+      <plot style="Lines" flip_y="false" mode="TimeSeries" flip_x="false">
+       <range top="2515.350000" left="0.000000" bottom="-61.350000" right="60.526742"/>
+       <limitY/>
+       <curve name="/pandaStates/0/canState0/totalErrorCnt" color="#1f77b4">
+        <transform alias="/pandaStates/0/canState0/totalErrorCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState1/totalErrorCnt" color="#d62728">
+        <transform alias="/pandaStates/0/canState1/totalErrorCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </transform>
+       </curve>
+       <curve name="/pandaStates/0/canState2/totalErrorCnt" color="#1ac938">
+        <transform alias="/pandaStates/0/canState2/totalErrorCnt[Derivative]" name="Derivative">
+         <options radioChecked="radioCustom" lineEdit="1.0"/>
+        </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>
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/camera-timings.xml

@@ -0,0 +1,148 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab tab_name="SOF / EOF (encodeIdx)" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.500885;0.499115" count="2">
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
+       <limitY max="6.5e+07" min="3.5e+07"/>
+       <curve color="#1f77b4" name="/driverEncodeIdx/timestampSof">
+        <transform name="Derivative" alias="/driverEncodeIdx/timestampSof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#d62728" name="/roadEncodeIdx/timestampSof">
+        <transform name="Derivative" alias="/roadEncodeIdx/timestampSof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#1ac938" name="/wideRoadEncodeIdx/timestampSof">
+        <transform name="Derivative" alias="/wideRoadEncodeIdx/timestampSof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
+       <limitY max="6.5e+07" min="3.5e+07"/>
+       <curve color="#f14cc1" name="/driverEncodeIdx/timestampEof">
+        <transform name="Derivative" alias="/driverEncodeIdx/timestampEof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#9467bd" name="/roadEncodeIdx/timestampEof">
+        <transform name="Derivative" alias="/roadEncodeIdx/timestampEof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#17becf" name="/wideRoadEncodeIdx/timestampEof">
+        <transform name="Derivative" alias="/wideRoadEncodeIdx/timestampEof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="model timings" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="0.015143" left="0.000000" top="0.016865" right="630.006367"/>
+       <limitY/>
+       <curve color="#ff7f0e" name="/modelV2/modelExecutionTime"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="-0.100000" left="0.000000" top="0.100000" right="630.006367"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/modelV2/frameDropPerc"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="sensor info" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="1" count="1">
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="-0.100000" left="0.000000" top="0.100000" right="630.006367"/>
+       <limitY/>
+       <curve color="#bcbd22" name="/driverCameraState/sensor"/>
+       <curve color="#1f77b4" name="/roadCameraState/sensor"/>
+       <curve color="#d62728" name="/wideRoadCameraState/sensor"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="SOF / EOF (cameraState)" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.500885;0.499115" count="2">
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
+       <limitY max="6.5e+07" min="3.5e+07"/>
+       <curve color="#1f77b4" name="/driverCameraState/timestampSof">
+        <transform name="Derivative" alias="/driverCameraState/timestampSof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#d62728" name="/roadCameraState/timestampSof">
+        <transform name="Derivative" alias="/roadCameraState/timestampSof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#1ac938" name="/wideRoadCameraState/timestampSof">
+        <transform name="Derivative" alias="/wideRoadCameraState/timestampSof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
+       <limitY max="6.5e+07" min="3.5e+07"/>
+       <curve color="#ff7f0e" name="/driverCameraState/timestampEof">
+        <transform name="Derivative" alias="/driverCameraState/timestampEof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#f14cc1" name="/roadCameraState/timestampEof">
+        <transform name="Derivative" alias="/roadCameraState/timestampEof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#9467bd" name="/wideRoadCameraState/timestampEof">
+        <transform name="Derivative" alias="/wideRoadCameraState/timestampEof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </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>
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/can-states.xml

@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter count="2" sizes="0.500381;0.499619" orientation="-">
+     <DockSplitter count="2" sizes="0.5;0.5" orientation="|">
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-17755.925000" top="771630.925000" left="0.000000"/>
+        <limitY/>
+        <curve color="#1f77b4" name="/pandaStates/0/canState0/totalRxCnt"/>
+        <curve color="#d62728" name="/pandaStates/0/canState1/totalRxCnt"/>
+        <curve color="#1ac938" name="/pandaStates/0/canState2/totalRxCnt"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-18545.500000" top="760365.500000" left="0.000000"/>
+        <limitY/>
+        <curve color="#ff7f0e" name="/pandaStates/0/canState0/totalTxCnt"/>
+        <curve color="#f14cc1" name="/pandaStates/0/canState1/totalTxCnt"/>
+        <curve color="#9467bd" name="/pandaStates/0/canState2/totalTxCnt"/>
+       </plot>
+      </DockArea>
+     </DockSplitter>
+     <DockSplitter count="3" sizes="0.333333;0.333333;0.333333" orientation="|">
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-1.350000" top="55.350000" left="0.000000"/>
+        <limitY/>
+        <curve color="#ff7f0e" name="/pandaStates/0/canState0/totalRxLostCnt"/>
+        <curve color="#f14cc1" name="/pandaStates/0/canState1/totalRxLostCnt"/>
+        <curve color="#9467bd" name="/pandaStates/0/canState2/totalRxLostCnt"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-0.050000" top="2.050000" left="0.000000"/>
+        <limitY/>
+        <curve color="#17becf" name="/pandaStates/0/canState0/totalTxLostCnt"/>
+        <curve color="#bcbd22" name="/pandaStates/0/canState1/totalTxLostCnt"/>
+        <curve color="#1f77b4" name="/pandaStates/0/canState2/totalTxLostCnt"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-0.100000" top="0.100000" left="0.000000"/>
+        <limitY/>
+        <curve color="#17becf" name="/pandaStates/0/canState0/busOffCnt"/>
+        <curve color="#1ac938" name="/pandaStates/0/canState1/busOffCnt"/>
+        <curve color="#bcbd22" name="/pandaStates/0/canState2/busOffCnt"/>
+       </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>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/controls_mismatch_debug.xml

@@ -0,0 +1,61 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter orientation="-" count="5" sizes="0.2;0.2;0.2;0.2;0.2">
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="1.025000" bottom="-0.025000" left="0.018309" right="59.674401"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/carControl/enabled"/>
+       <curve color="#d62728" name="/pandaStates/0/controlsAllowed"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="27.087398" bottom="-0.905168" left="0.018309" right="59.674401"/>
+       <limitY/>
+       <curve color="#9467bd" name="/controlsState/cumLagMs"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="1.025000" bottom="-0.025000" left="0.018309" right="59.674401"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/pandaStates/0/safetyRxInvalid"/>
+       <curve color="#e801ce" name="/pandaStates/0/safetyRxChecksInvalid"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="158.850000" bottom="-2.850000" left="0.018309" right="59.674401"/>
+       <limitY/>
+       <curve color="#d62728" name="/pandaStates/0/safetyTxBlocked"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="1.025000" bottom="-0.025000" left="0.018309" right="59.674401"/>
+       <limitY/>
+       <curve color="#1ac938" name="/carState/gasPressed"/>
+       <curve color="#ff7f0e" name="/carState/brakePressed"/>
+      </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>
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/demo.xml

@@ -0,0 +1,104 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root version="2.3.8">
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="1" count="1">
+     <DockSplitter orientation="|" sizes="0.5;0.5" count="2">
+      <DockSplitter orientation="-" sizes="0.500497;0.499503" count="2">
+       <DockArea name="...">
+        <plot mode="TimeSeries" style="Lines">
+         <range top="2.762667" bottom="-3.239397" right="56.512723" left="0.000000"/>
+         <limitY/>
+         <curve color="#1f77b4" name="/carState/aEgo"/>
+         <curve color="#17becf" name="/carState/brake"/>
+        </plot>
+       </DockArea>
+       <DockArea name="...">
+        <plot mode="TimeSeries" style="Lines">
+         <range top="5.191867" bottom="-5.724069" right="56.512723" left="0.000000"/>
+         <limitY/>
+         <curve color="#1ac938" name="dv/dt"/>
+        </plot>
+       </DockArea>
+      </DockSplitter>
+      <DockSplitter orientation="-" sizes="0.500497;0.499503" count="2">
+       <DockArea name="...">
+        <plot mode="TimeSeries" style="Lines">
+         <range top="16.065524" bottom="-0.470076" right="56.512723" left="0.000000"/>
+         <limitY/>
+         <curve color="#d62728" name="/carState/vEgo"/>
+         <curve color="#bcbd22" name="/carState/gas"/>
+        </plot>
+       </DockArea>
+       <DockArea name="...">
+        <plot mode="TimeSeries" style="Lines">
+         <range top="1.014703" bottom="-0.012971" right="56.512723" left="0.000000"/>
+         <limitY/>
+         <curve color="#ff7f0e" name="/model/meta/brakeDisengageProb"/>
+         <curve color="#f14cc1" name="/model/meta/engagedProb"/>
+         <curve color="#9467bd" name="/model/meta/steerOverrideProb"/>
+        </plot>
+       </DockArea>
+      </DockSplitter>
+     </DockSplitter>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad CSV">
+   <default time_axis=""/>
+  </plugin>
+  <plugin ID="DataLoad ROS bags">
+   <use_header_stamp value="false"/>
+   <use_renaming_rules value="true"/>
+   <discard_large_arrays value="true"/>
+   <max_array_size value="100"/>
+  </plugin>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="DataLoad ULog"/>
+  <plugin ID="LSL Subscriber"/>
+  <plugin ID="MQTT Subscriber"/>
+  <plugin ID="ROS Topic Subscriber">
+   <use_header_stamp value="false"/>
+   <use_renaming_rules value="true"/>
+   <discard_large_arrays value="true"/>
+   <max_array_size value="100"/>
+  </plugin>
+  <plugin ID="UDP Server"/>
+  <plugin ID="WebSocket Server"/>
+  <plugin ID="ZMQ Subscriber"/>
+  <plugin status="idle" ID="ROS /rosout Visualization"/>
+  <plugin status="idle" ID="ROS Topic Re-Publisher"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="dv/dt">
+   <global>prevX = 0
+prevY = 0
+is_first = true</global>
+   <function>if (is_first) then
+  is_first = false
+  prevX = time
+  prevY = value
+end
+
+dx = time - prevX
+dy = value - prevY
+prevX = time
+prevY = value
+
+return dy/dx</function>
+   <linkedSource>/carState/vEgo</linkedSource>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/gps.xml

@@ -0,0 +1,62 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.24977;0.250689;0.24977;0.24977" count="4">
+     <DockArea name="...">
+      <plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
+       <range left="0.000000" right="1678.753571" bottom="-0.025000" top="1.025000"/>
+       <limitY/>
+       <curve name="/gpsLocationExternal/hasFix" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
+       <range left="0.000000" right="1678.753571" bottom="-0.425000" top="17.425000"/>
+       <limitY/>
+       <curve name="/gpsLocationExternal/satelliteCount" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
+       <range left="0.000000" right="1678.753571" bottom="0.000000" top="3.000000"/>
+       <limitY max="3" min="0"/>
+       <curve name="/gpsLocationExternal/horizontalAccuracy" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
+       <range left="0.000000" right="1678.753571" bottom="-17.262000" top="766.374004"/>
+       <limitY/>
+       <curve name="/gpsLocationExternal/horizontalAccuracy" color="#1ac938"/>
+      </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 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="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/gps_vs_llk.xml

@@ -0,0 +1,83 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter count="3" sizes="0.333805;0.33239;0.333805" orientation="-">
+     <DockArea name="...">
+      <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
+       <range bottom="0.368228" right="196.811937" left="76.646983" top="32.070386"/>
+       <limitY/>
+       <curve name="haversine distance [m]" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
+       <range bottom="-0.259115" right="196.811937" left="76.646983" top="12.637299"/>
+       <limitY/>
+       <curve name="/carState/vEgo" color="#17becf"/>
+       <curve name="/gpsLocationExternal/speed" color="#bcbd22"/>
+      </plot>
+     </DockArea>
+     <DockSplitter count="2" sizes="0.500516;0.499484" orientation="|">
+      <DockArea name="...">
+       <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
+        <range bottom="-0.100000" right="196.811937" left="76.646983" top="0.100000"/>
+        <limitY/>
+        <curve name="/liveLocationKalman/positionGeodetic/std/0" color="#d62728"/>
+        <curve name="/liveLocationKalman/positionGeodetic/std/1" color="#1ac938"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
+        <range bottom="-0.449385" right="196.811937" left="76.646983" top="7.160833"/>
+        <limitY/>
+        <curve name="/gpsLocationExternal/horizontalAccuracy" color="#ff7f0e"/>
+        <curve name="/gpsLocationExternal/verticalAccuracy" color="#f14cc1"/>
+        <curve name="/gpsLocationExternal/speedAccuracy" color="#9467bd"/>
+       </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="haversine distance [m]">
+   <global>R = 6378.137 -- Radius of earth in KM</global>
+   <function>-- Compute the Haversine distance between 
+-- two points defined by latitude and longitude.
+-- Return the distance in meters
+lat1, lon1 = value, v1
+lat2, lon2 = v2, v3
+dLat = (lat2 - lat1) * math.pi / 180
+dLon = (lon2 - lon1) * math.pi / 180
+a = math.sin(dLat/2) * math.sin(dLat/2) +
+math.cos(lat1 * math.pi / 180) * math.cos(lat2 * math.pi / 180) *
+math.sin(dLon/2) * math.sin(dLon/2)
+c = 2 * math.atan(math.sqrt(a), math.sqrt(1-a))
+d = R * c
+distance = d * 1000 -- meters
+return distance</function>
+   <linked_source>/gpsLocationExternal/latitude</linked_source>
+   <additional_sources>
+    <v1>/gpsLocationExternal/longitude</v1>
+    <v2>/liveLocationKalman/positionGeodetic/value/0</v2>
+    <v3>/liveLocationKalman/positionGeodetic/value/1</v3>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/locationd_debug.xml

@@ -0,0 +1,100 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter sizes="0.166588;0.167062;0.166113;0.166588;0.167062;0.166588" orientation="-" count="6">
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
+       <range right="2280.128382" left="0.000000" top="1.025000" bottom="-0.025000"/>
+       <limitY/>
+       <curve color="#ff7f0e" name="/livePose/inputsOK"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
+       <range right="2280.128382" left="0.000000" top="14.542814" bottom="-5.586039"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/accelerometer/acceleration/v/0"/>
+       <curve color="#9467bd" name="/accelerometer/acceleration/v/1"/>
+       <curve color="#17becf" name="/accelerometer/acceleration/v/2"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
+       <range right="2280.128382" left="0.000000" top="0.988911" bottom="-0.745939"/>
+       <limitY/>
+       <curve color="#d62728" name="/gyroscope/gyroUncalibrated/v/0"/>
+       <curve color="#1ac938" name="/gyroscope/gyroUncalibrated/v/1"/>
+       <curve color="#ff7f0e" name="/gyroscope/gyroUncalibrated/v/2"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
+       <range right="2280.128382" left="0.000000" top="1.025000" bottom="-0.025000"/>
+       <limitY/>
+       <curve color="#17becf" name="/accelerometer/__valid"/>
+       <curve color="#bcbd22" name="/gyroscope/__valid"/>
+       <curve color="#f14cc1" name="/carState/__valid"/>
+       <curve color="#1ac938" name="/liveCalibration/__valid"/>
+       <curve color="#9467bd" name="/cameraOdometry/__valid"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
+       <range right="2280.128382" left="0.000000" top="1000000000.292252" bottom="999999999.735447"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/gyroscope/__logMonoTime">
+        <transform alias="/gyroscope/__logMonoTime[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioActual"/>
+        </transform>
+       </curve>
+       <curve color="#d62728" name="/accelerometer/__logMonoTime">
+        <transform alias="/accelerometer/__logMonoTime[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioActual"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" flip_y="false" style="Lines" mode="TimeSeries">
+       <range right="2280.128382" left="0.000000" top="20790107743.932232" bottom="-529653831.495853"/>
+       <limitY/>
+       <curve color="#bcbd22" name="/accelerometer/timestamp">
+        <transform alias="/accelerometer/timestamp[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioActual"/>
+        </transform>
+       </curve>
+       <curve color="#1f77b4" name="/gyroscope/timestamp">
+        <transform alias="/gyroscope/timestamp[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioActual"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <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="ZMQ Subscriber"/>
+  <plugin ID="Fast Fourier Transform"/>
+  <plugin ID="Quaternion to RPY"/>
+  <plugin ID="CSV Exporter"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/longitudinal.xml

@@ -0,0 +1,60 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <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">
+     <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"/>
+       <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" />
+       <limitY/>
+       <curve name="/controlsState/upAccelCmd" color="#1f77b4"/>
+       <curve name="/controlsState/uiAccelCmd" color="#d62728"/>
+       <curve name="/controlsState/ufAccelCmd" color="#1ac938"/>
+      </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" />
+       <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" />
+       <limitY/>
+       <curve name="/carControl/longActive" color="#1f77b4"/>
+       <curve name="/carState/gasPressed" color="#d62728"/>
+      </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>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

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

@@ -0,0 +1,92 @@
+<?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 compensated 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="/carOutput/actuatorsOutput/torque"/>
+      </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>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <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="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>
+

tools/plotjuggler/layouts/system_lag_debug.xml

@@ -0,0 +1,67 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab tab_name="tab1" containers="1">
+   <Container>
+    <DockSplitter orientation="-" count="4" sizes="0.249729;0.250814;0.249729;0.249729">
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="102.500000" right="59.992103" left="0.000000" bottom="-2.500000"/>
+       <limitY/>
+       <curve name="/deviceState/cpuUsagePercent/0" color="#1f77b4"/>
+       <curve name="/deviceState/cpuUsagePercent/1" color="#d62728"/>
+       <curve name="/deviceState/cpuUsagePercent/2" color="#1ac938"/>
+       <curve name="/deviceState/cpuUsagePercent/3" color="#ff7f0e"/>
+       <curve name="/deviceState/cpuUsagePercent/4" color="#f14cc1"/>
+       <curve name="/deviceState/cpuUsagePercent/5" color="#9467bd"/>
+       <curve name="/deviceState/cpuUsagePercent/6" color="#17becf"/>
+       <curve name="/deviceState/cpuUsagePercent/7" color="#bcbd22"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="64.005001" right="59.992103" left="0.000000" bottom="51.195000"/>
+       <limitY/>
+       <curve name="/deviceState/cpuTempC/0" color="#d62728"/>
+       <curve name="/deviceState/cpuTempC/1" color="#1ac938"/>
+       <curve name="/deviceState/cpuTempC/2" color="#ff7f0e"/>
+       <curve name="/deviceState/cpuTempC/3" color="#f14cc1"/>
+       <curve name="/deviceState/cpuTempC/4" color="#9467bd"/>
+       <curve name="/deviceState/cpuTempC/5" color="#17becf"/>
+       <curve name="/deviceState/cpuTempC/6" color="#bcbd22"/>
+       <curve name="/deviceState/cpuTempC/7" color="#1f77b4"/>
+       <curve name="/deviceState/gpuTempC/0" color="#d62728"/>
+       <curve name="/deviceState/gpuTempC/1" color="#1ac938"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="37.371108" right="59.992103" left="0.000000" bottom="-0.911490"/>
+       <limitY/>
+       <curve name="/modelV2/frameDropPerc" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot mode="TimeSeries" flip_x="false" flip_y="false" style="Lines">
+       <range top="-3.593455" right="59.992103" left="0.000000" bottom="-12.190956"/>
+       <limitY/>
+       <curve name="/controlsState/cumLagMs" color="#9467bd"/>
+      </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>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/thermal_debug.xml

@@ -0,0 +1,107 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter count="6" orientation="-" sizes="0.166785;0.166785;0.166075;0.166785;0.166785;0.166785">
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="0.006955" top="87.987497" bottom="75.912497" right="301.842654"/>
+       <limitY/>
+       <curve name="/deviceState/cpuTempC/0" color="#1f77b4"/>
+       <curve name="/deviceState/cpuTempC/1" color="#d62728"/>
+       <curve name="/deviceState/cpuTempC/2" color="#1ac938"/>
+       <curve name="/deviceState/cpuTempC/3" color="#ff7f0e"/>
+       <curve name="/deviceState/cpuTempC/4" color="#f14cc1"/>
+       <curve name="/deviceState/cpuTempC/5" color="#9467bd"/>
+       <curve name="/deviceState/cpuTempC/6" color="#17becf"/>
+       <curve name="/deviceState/cpuTempC/7" color="#bcbd22"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="0.006955" top="85.861052" bottom="66.496950" right="301.842654"/>
+       <limitY/>
+       <curve name="/deviceState/pmicTempC/0" color="#1f77b4"/>
+       <curve name="/deviceState/gpuTempC/0" color="#d62728"/>
+       <curve name="/deviceState/gpuTempC/1" color="#1ac938"/>
+       <curve name="/deviceState/memoryTempC" color="#f14cc1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="0.006955" top="86.207876" bottom="70.665918" right="301.842654"/>
+       <limitY/>
+       <curve name="/deviceState/maxTempC" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="0.006955" top="1.025000" bottom="-0.025000" right="301.842654"/>
+       <limitY/>
+       <curve name="/deviceState/thermalStatus" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockSplitter count="3" orientation="|" sizes="0.333124;0.333752;0.333124">
+      <DockArea name="...">
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="12.057358" bottom="4.843517" right="301.842654"/>
+        <limitY/>
+        <curve name="/deviceState/powerDrawW" color="#ff7f0e"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="100.000000" bottom="0.000000" right="301.842654"/>
+        <limitY min="0" max="100"/>
+        <curve name="/deviceState/fanSpeedPercentDesired" color="#9467bd"/>
+        <curve name="/pandaStates/0/fanPower" color="#1f77b4"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="5018.400000" bottom="255.600000" right="301.842654"/>
+        <limitY/>
+        <curve name="/peripheralState/fanSpeedRpm" color="#1f77b4"/>
+       </plot>
+      </DockArea>
+     </DockSplitter>
+     <DockSplitter count="2" orientation="|" sizes="0.502513;0.497487">
+      <DockArea name="...">
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="100.025000" bottom="14.975000" right="301.842654"/>
+        <limitY/>
+        <curve name="/deviceState/cpuUsagePercent/0" color="#1f77b4"/>
+        <curve name="/deviceState/cpuUsagePercent/1" color="#d62728"/>
+        <curve name="/deviceState/cpuUsagePercent/2" color="#1ac938"/>
+        <curve name="/deviceState/cpuUsagePercent/3" color="#ff7f0e"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="102.500000" bottom="-2.500000" right="301.842654"/>
+        <limitY/>
+        <curve name="/deviceState/cpuUsagePercent/4" color="#f14cc1"/>
+        <curve name="/deviceState/cpuUsagePercent/5" color="#9467bd"/>
+        <curve name="/deviceState/cpuUsagePercent/6" color="#17becf"/>
+        <curve name="/deviceState/cpuUsagePercent/7" color="#bcbd22"/>
+       </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/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/torque-controller.xml

@@ -0,0 +1,245 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab containers="1" tab_name="Lateral Plan Conformance">
+   <Container>
+    <DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
+     <DockArea name="desired vs actual lateral acceleration (closer means better conformance to plan)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.643117" left="0.000140" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.445087" right="269.643117" left="0.000140" bottom="-2.654874"/>
+       <limitY/>
+       <curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
+       <curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
+      </plot>
+     </DockArea>
+     <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
+       <limitY/>
+       <curve color="#9467bd" name="/carOutput/actuatorsOutput/torque">
+        <transform alias="/carOutput/actuatorsOutput/torque[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1" time_offset="0" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#ff000f" name="/carState/steeringPressed"/>
+      </plot>
+     </DockArea>
+     <DockArea name="vehicle speed">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="101.506277" right="269.643117" left="0.000140" bottom="-2.475763"/>
+       <limitY/>
+       <curve color="#d62728" name="carState.vEgo mph"/>
+       <curve color="#1ac938" name="carState.vEgo kmh"/>
+       <curve color="#ff7f0e" name="/carState/vEgo"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Actuator Performance">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="4.186453" right="269.490213" left="0.000000" bottom="3.175940"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/liveTorqueParameters/latAccelFactorFiltered"/>
+       <curve color="#d62728" name="/liveTorqueParameters/latAccelFactorRaw"/>
+       <curve color="#1c9222" name="/carParams/lateralTuning/torque/latAccelFactor"/>
+      </plot>
+     </DockArea>
+     <DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.003035" right="269.490213" left="0.000000" bottom="-0.124417"/>
+       <limitY/>
+       <curve color="#1ac938" name="/liveTorqueParameters/latAccelOffsetFiltered"/>
+       <curve color="#ff7f0e" name="/liveTorqueParameters/latAccelOffsetRaw"/>
+      </plot>
+     </DockArea>
+     <DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.121143" right="269.490213" left="0.000000" bottom="-0.002955"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveTorqueParameters/frictionCoefficientFiltered"/>
+       <curve color="#9467bd" name="/liveTorqueParameters/frictionCoefficientRaw"/>
+       <curve color="#1c9222" name="/carParams/lateralTuning/torque/friction"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Vehicle Dynamics">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="configured-initial vs online-learned steerRatio, set configured value to match learned">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="12.903705" right="269.638801" left="0.000000" bottom="12.748092"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/carParams/steerRatio"/>
+       <curve color="#1ac938" name="/liveParameters/steerRatio"/>
+      </plot>
+     </DockArea>
+     <DockArea name="configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.000520" right="269.638801" left="0.000000" bottom="0.999718"/>
+       <limitY/>
+       <curve color="#d62728" name="/carParams/tireStiffnessFactor"/>
+       <curve color="#ff7f0e" name="/liveParameters/stiffnessFactor"/>
+      </plot>
+     </DockArea>
+     <DockArea name="live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="-0.332067" right="269.638801" left="0.000000" bottom="-3.149970"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveParameters/angleOffsetAverageDeg"/>
+       <curve color="#9467bd" name="/liveParameters/angleOffsetDeg"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Controller PIF Terms">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
+       <limitY/>
+       <curve color="#9467bd" name="/carOutput/actuatorsOutput/torque">
+        <transform alias="/carOutput/actuatorsOutput/torque[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1.0" time_offset="0" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#ff000f" name="/carState/steeringPressed"/>
+      </plot>
+     </DockArea>
+     <DockArea name="proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.572946" right="269.643117" left="0.000140" bottom="-3.822608"/>
+       <limitY/>
+       <curve color="#0ab027" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/p"/>
+       <curve color="#ffaf00" name="/controlsState/lateralControlState/torqueState/i"/>
+       <curve color="#756a6a" name="Zero"/>
+      </plot>
+     </DockArea>
+     <DockArea name="road roll angle, from openpilot localizer">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.059127" right="269.643117" left="0.000140" bottom="-0.031841"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveParameters/roll"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Actuator Delay Estimation">
+   <Container>
+    <DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
+     <DockArea name="desired vs actual lateral acceleration (baseline)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.1s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.1" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.2s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.2" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.3s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.3" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </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>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="Zero">
+   <global></global>
+   <function>return (0)</function>
+   <linked_source>/carState/canValid</linked_source>
+  </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>
+  <snippet name="carState.vEgo mph">
+   <global></global>
+   <function>return value * 2.23694</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
+  <snippet name="carState.vEgo kmh">
+   <global></global>
+   <function>return value * 3.6</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/tuning.xml

@@ -0,0 +1,291 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root version="2.3.8">
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab tab_name="Lateral" containers="1">
+   <Container>
+    <DockSplitter orientation="-" count="5" sizes="0.200458;0.199313;0.200458;0.199313;0.200458">
+     <DockArea name="Velocity [m/s]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="1.253354" top="29.954036" bottom="-0.841715" right="631.055584"/>
+       <limitY/>
+       <curve color="#0072b2" name="/carState/vEgo"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Curvature [1/m] True [blue] Vehicle Model [purple] Plan [green]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="0.000000" top="0.006648" bottom="-0.003150" right="631.055209"/>
+       <limitY/>
+       <curve color="#009e73" name="engaged curvature plan"/>
+       <curve color="#785ef0" name="engaged curvature vehicle model"/>
+       <curve color="#0072b2" name="engaged curvature yaw"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Roll [rad]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="0.000000" top="0.166067" bottom="-1.598381" right="631.038276"/>
+       <limitY/>
+       <curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/0"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Engaged [green] Steering Pressed [blue]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="1.252984" top="1.025000" bottom="-0.025000" right="631.055584"/>
+       <limitY/>
+       <curve color="#009e73" name="/controlsState/enabled"/>
+       <curve color="#0072b2" name="/carState/steeringPressed"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Steering Limited: Rate [orange] Saturated [magenta]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
+       <limitY/>
+       <curve name="/carState/steeringRateLimited" color="#ffb000"/>
+       <curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="Longitudinal" containers="1">
+   <Container>
+    <DockSplitter orientation="-" count="5" sizes="0.1875;0.1875;0.1875;0.1875;0.25">
+     <DockArea name="Velocity [m/s] True [blue] Plan [green] Cruise [magenta]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="0.000000" top="42.713492" bottom="-1.041792" right="631.055584"/>
+       <limitY/>
+       <curve color="#dc267f" name="/carState/cruiseState/speed"/>
+       <curve color="#009e73" name="/longitudinalPlan/speeds/0"/>
+       <curve color="#0072b2" name="/carState/vEgo"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Acceleration [m/s^2] True [blue] Actuator [purple] Plan [green]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="1.253354" top="0.808303" bottom="-1.213305" right="631.055759"/>
+       <limitY/>
+       <curve color="#009e73" name="engaged_accel_plan"/>
+       <curve color="#785ef0" name="engaged_accel_actuator"/>
+       <curve color="#0072b2" name="engaged_accel_actual"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Pitch [rad]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="0.000000" top="0.158854" bottom="-0.594843" right="631.038276"/>
+       <limitY/>
+       <curve color="#ffb000" name="/liveLocationKalman/calibratedOrientationNED/value/1"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Engaged [green] Gas [orange] Brake [magenta]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055759"/>
+       <limitY/>
+       <curve color="#009e73" name="/carControl/enabled"/>
+       <curve color="#ffb000" name="/carState/gasPressed"/>
+       <curve color="#dc267f" name="/carState/brakePressed"/>
+      </plot>
+     </DockArea>
+     <DockArea name="State [blue: off,pid,stop,start] Source [green: cruise,lead0,lead1,lead2,e2e]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="1.253620" top="5.125000" bottom="-0.125000" right="631.055759"/>
+       <limitY/>
+       <curve color="#0072b2" name="/carControl/actuators/longControlState"/>
+       <curve color="#009e73" name="/longitudinalPlan/longitudinalPlanSource"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="Lateral Debug" containers="1">
+   <Container>
+    <DockSplitter orientation="-" count="4" sizes="0.25;0.25;0.25;0.25">
+     <DockArea name="Controller F [magenta] P [purple] I [blue]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="0.000000" top="1.000000" bottom="0.000000" right="1.000000"/>
+       <limitY/>
+       <curve name="/controlsState/lateralControlState/pidState/f" color="#f14cc1"/>
+       <curve name="/controlsState/lateralControlState/pidState/p" color="#9467bd"/>
+       <curve name="/controlsState/lateralControlState/pidState/i" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Driver Torque [blue] EPS Torque [green]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="1.253354" top="2690.999030" bottom="-3450.198981" right="631.055584"/>
+       <limitY/>
+       <curve color="#009e73" name="/carState/steeringTorqueEps"/>
+       <curve color="#0072b2" name="/carState/steeringTorque"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Engaged [green] Steering Pressed [blue]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055759"/>
+       <limitY/>
+       <curve color="#009e73" name="/carControl/enabled"/>
+       <curve color="#0072b2" name="/carState/steeringPressed"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Steering Limited: Rate [orange] Saturated [magenta]">
+      <plot style="Lines" mode="TimeSeries">
+       <range left="1.253354" top="1.025000" bottom="-0.025000" right="631.055584"/>
+       <limitY/>
+       <curve name="/carState/steeringRateLimited" color="#ffb000"/>
+       <curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
+      </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>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <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="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="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="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="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_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>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/layouts/ublox-debug.xml

@@ -0,0 +1,44 @@
+<?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="-" sizes="0.333333;0.333333;0.333333" count="3">
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range right="134.825489" top="4402341.574525" bottom="-107369.555525" left="0.000000"/>
+       <limitY/>
+       <curve name="/gpsLocationExternal/horizontalAccuracy" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range right="134.825489" top="1.025000" bottom="-0.025000" left="0.000000"/>
+       <limitY/>
+       <curve name="/gpsLocationExternal/flags" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range right="134.825489" top="6.150000" bottom="-0.150000" left="0.000000"/>
+       <limitY/>
+       <curve name="/ubloxGnss/measurementReport/numMeas" color="#1ac938"/>
+      </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>
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

tools/plotjuggler/test_plotjuggler.py

@@ -0,0 +1,48 @@
+import os
+import glob
+import signal
+import subprocess
+import time
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.timeout import Timeout
+from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install
+
+PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler")
+
+class TestPlotJuggler:
+
+  def test_demo(self):
+    install()
+
+    pj = os.path.join(PJ_DIR, "juggle.py")
+    with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} "{DEMO_ROUTE}/:2"',
+                           stderr=subprocess.PIPE, shell=True, start_new_session=True) as p:
+      # Wait for "Done reading Rlog data" signal from the plugin
+      output = "\n"
+      with Timeout(180, error_msg=output):
+        while output.splitlines()[-1] != "Done reading Rlog data":
+          output += p.stderr.readline().decode("utf-8")
+
+      # ensure plotjuggler didn't crash after exiting the plugin
+      time.sleep(2)
+      assert p.poll() is None
+      os.killpg(os.getpgid(p.pid), signal.SIGTERM)
+
+      assert "Raw file read failed" not in output
+
+  # TODO: also test that layouts successfully load
+  def test_layouts(self, subtests):
+    bad_strings = (
+      # if a previously loaded file is defined,
+      # PJ will throw a warning when loading the layout
+      "fileInfo",
+      "previouslyLoaded_Datafiles",
+    )
+    for fn in glob.glob(os.path.join(PJ_DIR, "layouts/*")):
+      name = os.path.basename(fn)
+      with subtests.test(layout=name):
+        with open(fn) as f:
+          layout = f.read()
+          violations = [s for s in bad_strings if s in layout]
+          assert len(violations) == 0, f"These should be stripped out of the layout: {str(violations)}"