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

            self.acc_x_curve.setData(self.data_buffer['time'],  self.data_buffer['pitch']) 
            self.gyro_z_curve.setData(self.data_buffer['time'],  self.data_buffer['yaw']) 
 
    def run(self):
        self.win.show() 
        self.app.exec_()