68 lines
2.6 KiB
Python
68 lines
2.6 KiB
Python
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# visualization/realtime_plot.py
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import pyqtgraph as pg
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from pyqtgraph.Qt import QtCore, QtWidgets
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from collections import deque
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class RealTimePlot:
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def __init__(self, data_source):
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self.app = QtWidgets.QApplication([])
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self.win = pg.GraphicsLayoutWidget(size=(1200, 800))
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# 初始化绘图区域
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self._init_plots()
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# 数据源连接
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self.data_source = data_source
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self.data_buffer = {
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'time': deque(maxlen=500),
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'roll': deque(maxlen=500),
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'pitch': deque(maxlen=500),
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'yaw': deque(maxlen=500),
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'acc_x': deque(maxlen=500),
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'acc_y': deque(maxlen=500),
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'gyro_z': deque(maxlen=500)
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}
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# 定时刷新
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self.timer = QtCore.QTimer()
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self.timer.timeout.connect(self.update)
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self.timer.start(50)
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def _init_plots(self):
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"""三窗格波形显示配置"""
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# 姿态角显示
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self.attitude_plot = self.win.addPlot(title=" 姿态角")
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self.attitude_plot.addLegend()
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self.roll_curve = self.attitude_plot.plot(pen='r', name='Roll')
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self.pitch_curve = self.attitude_plot.plot(pen='g', name='Pitch')
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# 加速度计显示
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self.win.nextRow()
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self.acc_plot = self.win.addPlot(title=" 加速度")
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self.acc_x_curve = self.acc_plot.plot(pen=(255,0,0), name='X')
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self.acc_y_curve = self.acc_plot.plot(pen=(0,255,0), name='Y')
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# 陀螺仪显示
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self.win.nextRow()
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self.gyro_plot = self.win.addPlot(title=" 角速度")
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self.gyro_z_curve = self.gyro_plot.plot(pen=(0,0,255), name='Z')
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def update(self):
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data = self.data_source.get_latest_data()
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if data is not None:
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self.data_buffer['time'].append(data['timestamp'])
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self.data_buffer['roll'].append(data['attitude']['roll'])
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self.data_buffer['pitch'].append(data['attitude']['pitch'])
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self.data_buffer['yaw'].append(data['attitude']['yaw'])
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self.data_buffer['acc_x'].append(data['acc']['x'])
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self.data_buffer['gyro_z'].append(data['gyro']['z'])
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self.roll_curve.setData(self.data_buffer['time'], self.data_buffer['roll'])
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# self.pitch_curve.setData(self.data_buffer['time'], self.data_buffer['pitch'])
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self.acc_x_curve.setData(self.data_buffer['time'], self.data_buffer['pitch'])
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self.gyro_z_curve.setData(self.data_buffer['time'], self.data_buffer['yaw'])
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def run(self):
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self.win.show()
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self.app.exec_()
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