From ca439e097649eefcaa4a6a5c6fac853eee68b868 Mon Sep 17 00:00:00 2001
From: rafal-gorecki <rafal.gorecki@husarion.com>
Date: Tue, 18 Jun 2024 10:58:20 +0200
Subject: [PATCH] Suggestions

---
 demo/compose.local.yaml                     |  1 +
 demo/compose.yaml                           |  1 +
 demo/foxglove-layout.json                   | 36 +++++++++------------
 entrypoint.sh                               |  0
 packages/studio-base/src/panels/Bar/Bar.tsx |  3 +-
 5 files changed, 20 insertions(+), 21 deletions(-)
 mode change 100644 => 100755 entrypoint.sh

diff --git a/demo/compose.local.yaml b/demo/compose.local.yaml
index c90dc26..e634565 100644
--- a/demo/compose.local.yaml
+++ b/demo/compose.local.yaml
@@ -17,6 +17,7 @@ services:
     volumes:
       - ./foxglove-layout.json:/foxglove/default-layout.json
     environment:
+      - ROBOT_NAMESPACE=panther
       # - DS_HOST=foxglove-ds
       - DISABLE_CACHE=true
       - DISABLE_INTERACTION=false
diff --git a/demo/compose.yaml b/demo/compose.yaml
index b715e66..6be7907 100644
--- a/demo/compose.yaml
+++ b/demo/compose.yaml
@@ -11,6 +11,7 @@ services:
     volumes:
       - ./foxglove-layout.json:/foxglove/default-layout.json
     environment:
+      - ROBOT_NAMESPACE=panther
       - DS_HOST=foxglove-ds
       - DISABLE_CACHE=true
       - DISABLE_INTERACTION=false
diff --git a/demo/foxglove-layout.json b/demo/foxglove-layout.json
index 6958320..7732efe 100644
--- a/demo/foxglove-layout.json
+++ b/demo/foxglove-layout.json
@@ -4,27 +4,27 @@
       "minLevel": 0,
       "pinnedIds": [],
       "hardwareIdFilter": "",
-      "topicToRender": "/panther/diagnostics",
+      "topicToRender": "<robot_namespace>/diagnostics",
       "sortByLevel": true
     },
     "Plot!dg5ynj": {
       "paths": [
         {
           "timestampMethod": "receiveTime",
-          "value": "/panther/imu/data.linear_acceleration.x",
+          "value": "<robot_namespace>/imu_sensor_broadcaster/imu.linear_acceleration.x",
           "enabled": true,
           "label": "x",
           "showLine": true
         },
         {
           "timestampMethod": "receiveTime",
-          "value": "/panther/imu/data.linear_acceleration.y",
+          "value": "<robot_namespace>/imu_sensor_broadcaster/imu.linear_acceleration.y",
           "enabled": true,
           "label": "y"
         },
         {
           "timestampMethod": "receiveTime",
-          "value": "/panther/imu/data.linear_acceleration.z",
+          "value": "<robot_namespace>/imu_sensor_broadcaster/imu.linear_acceleration.z",
           "enabled": true,
           "label": "z"
         }
@@ -41,39 +41,35 @@
       "followingViewWidth": 60
     },
     "Bar!3t52ye7": {
-      "path": "/panther/joint_states.effort[0]",
-      "minValue": -20,
+      "path": "<robot_namespace>/joint_states.effort[0]",
       "maxValue": 34.52,
       "colorMode": "colormap",
       "gradient": ["#0000ff", "#ff00ff"],
-      "reverse": true,
+      "reverse": false,
       "foxglovePanelTitle": "FL"
     },
     "Bar!461hl59": {
-      "path": "/panther/joint_states.effort[1]",
-      "minValue": -20,
+      "path": "<robot_namespace>/joint_states.effort[1]",
       "maxValue": 34.52,
       "colorMode": "colormap",
       "gradient": ["#0000ff", "#ff00ff"],
-      "reverse": false,
+      "reverse": true,
       "foxglovePanelTitle": "FR"
     },
     "Bar!1fzrnqw": {
-      "path": "/panther/joint_states.effort[2]",
-      "minValue": -20,
+      "path": "<robot_namespace>/joint_states.effort[2]",
       "maxValue": 34.52,
       "colorMode": "colormap",
       "gradient": ["#0000ff", "#ff00ff"],
-      "reverse": true,
+      "reverse": false,
       "foxglovePanelTitle": "RL"
     },
     "Bar!1q5qffy": {
-      "path": "/panther/joint_states.effort[3]",
-      "minValue": -20,
+      "path": "<robot_namespace>/joint_states.effort[3]",
       "maxValue": 34.52,
       "colorMode": "colormap",
       "gradient": ["#0000ff", "#ff00ff"],
-      "reverse": false,
+      "reverse": true,
       "foxglovePanelTitle": "RR"
     },
     "TriggerButton!2mhoc9g": {
@@ -82,7 +78,7 @@
       "advancedView": false,
       "foxglovePanelTitle": "E-stop",
       "buttonText": "STOP",
-      "serviceName": "/panther/hardware/e_stop_trigger",
+      "serviceName": "<robot_namespace>/hardware/e_stop_trigger",
       "buttonColor": "#bb0000"
     },
     "TriggerButton!194be9": {
@@ -92,10 +88,10 @@
       "foxglovePanelTitle": "E-stop",
       "buttonText": "Enable",
       "buttonColor": "#009900",
-      "serviceName": "/panther/hardware/e_stop_reset"
+      "serviceName": "<robot_namespace>/hardware/e_stop_reset"
     },
     "Battery!wppv5y": {
-      "path": "/panther/battery.percentage",
+      "path": "<robot_namespace>/battery.percentage",
       "minValue": 0,
       "maxValue": 1,
       "colorMap": "red-yellow-green",
@@ -105,7 +101,7 @@
       "foxglovePanelTitle": ""
     },
     "Joy!3fmstz6": {
-      "topic": "/panther/cmd_vel",
+      "topic": "<robot_namespace>/cmd_vel",
       "publishRate": 5,
       "upButton": {
         "field": "linear-x",
diff --git a/entrypoint.sh b/entrypoint.sh
old mode 100644
new mode 100755
diff --git a/packages/studio-base/src/panels/Bar/Bar.tsx b/packages/studio-base/src/panels/Bar/Bar.tsx
index 724cf4d..38b70a3 100644
--- a/packages/studio-base/src/panels/Bar/Bar.tsx
+++ b/packages/studio-base/src/panels/Bar/Bar.tsx
@@ -209,6 +209,7 @@ export function Bar({ context }: Props): JSX.Element {
 
   const { maxValue, reverse } = config;
   const barPercentage = Math.round((100 * rawValue) / maxValue)
+  const percentage = reverse ? -barPercentage : barPercentage;
 
   const levelHeight = Math.max(Math.min(Math.abs(barPercentage), 100), 0) / 2; // 50% is the max height
   const isPositive = reverse ? rawValue < 0 : rawValue >= 0;
@@ -229,7 +230,7 @@ export function Bar({ context }: Props): JSX.Element {
           style={{ height: `${levelHeight}%`, top, bottom }}
         ></div>
       </div>
-      <div className="percentage">{barPercentage}%</div>
+      <div className="percentage">{percentage}%</div>
     </Stack>
   );
 }