313 lines
12 KiB
Python
313 lines
12 KiB
Python
from PySide6.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QLabel, QPushButton, QSpinBox, QComboBox, QGridLayout, QFrame
|
||
from PySide6.QtCore import Qt, QTimer
|
||
from PySide6.QtGui import QPalette, QColor
|
||
import pyqtgraph as pg
|
||
import numpy as np
|
||
from typing import List, Dict
|
||
import time
|
||
from frame import FrameFormat # 只导入FrameFormat类，因为我们只需要使用parse_frame方法
|
||
|
||
class PlotWidget(QWidget):
|
||
"""工业风格的数据绘图控件"""
|
||
|
||
def __init__(self, parent=None):
|
||
super().__init__(parent)
|
||
self.setup_ui()
|
||
self.setup_plot()
|
||
self.setup_data()
|
||
|
||
def setup_ui(self):
|
||
"""设置UI界面"""
|
||
# 创建主布局
|
||
layout = QVBoxLayout(self)
|
||
|
||
# 创建工具栏
|
||
toolbar = QHBoxLayout()
|
||
|
||
# 添加时间尺度控制
|
||
self.time_scale_spin = QSpinBox()
|
||
self.time_scale_spin.setRange(1, 1000) # 1ms到1000ms
|
||
self.time_scale_spin.setValue(100) # 默认100ms
|
||
self.time_scale_spin.setSingleStep(10)
|
||
toolbar.addWidget(QLabel("时间尺度(ms):"))
|
||
toolbar.addWidget(self.time_scale_spin)
|
||
|
||
# 添加数据帧率控制
|
||
self.frame_rate_spin = QSpinBox()
|
||
self.frame_rate_spin.setRange(1, 10000) # 1Hz到10kHz
|
||
self.frame_rate_spin.setValue(1000) # 默认1000Hz
|
||
self.frame_rate_spin.setSingleStep(100)
|
||
toolbar.addWidget(QLabel("数据帧率(Hz):"))
|
||
toolbar.addWidget(self.frame_rate_spin)
|
||
|
||
# 自动缩放按钮
|
||
self.auto_scale_btn = QPushButton("自动缩放")
|
||
self.auto_scale_btn.clicked.connect(self.auto_scale)
|
||
toolbar.addWidget(self.auto_scale_btn)
|
||
|
||
# 暂停按钮
|
||
self.pause_btn = QPushButton("暂停")
|
||
self.pause_btn.setCheckable(True)
|
||
self.pause_btn.clicked.connect(self.toggle_pause)
|
||
toolbar.addWidget(self.pause_btn)
|
||
|
||
toolbar.addStretch()
|
||
layout.addLayout(toolbar)
|
||
|
||
# 创建网格布局用于放置多个绘图控件
|
||
plot_layout = QGridLayout()
|
||
plot_layout.setSpacing(10) # 设置绘图控件之间的间距
|
||
|
||
# 创建8个绘图控件
|
||
self.plot_widgets = []
|
||
self.curves = []
|
||
self.stats_labels = [] # 添加统计标签列表
|
||
colors = ['#ff0000', '#00ff00', '#0000ff', '#ffff00',
|
||
'#ff00ff', '#00ffff', '#ffffff', '#ff8000']
|
||
|
||
for i in range(8):
|
||
# 创建绘图控件容器
|
||
container = QFrame()
|
||
container.setFrameStyle(QFrame.Panel | QFrame.Sunken)
|
||
container_layout = QVBoxLayout(container)
|
||
|
||
# 创建标题
|
||
title_layout = QHBoxLayout()
|
||
title_label = QLabel(f"通道 {i+1}")
|
||
stats_label = QLabel("点数: 0 | 点数/秒: 0.0") # 添加统计标签
|
||
title_layout.addWidget(title_label)
|
||
title_layout.addStretch()
|
||
title_layout.addWidget(stats_label)
|
||
container_layout.addLayout(title_layout)
|
||
|
||
# 创建绘图控件
|
||
plot_widget = pg.PlotWidget()
|
||
plot_widget.setBackground('#2b2b2b')
|
||
plot_widget.showGrid(x=True, y=True)
|
||
plot_widget.setLabel('left', '数值')
|
||
plot_widget.setLabel('bottom', '时间 (秒)')
|
||
plot_widget.getAxis('left').setPen(pg.mkPen(color='#ffffff'))
|
||
plot_widget.getAxis('bottom').setPen(pg.mkPen(color='#ffffff'))
|
||
plot_widget.showGrid(x=True, y=True)
|
||
plot_widget.getViewBox().setBackgroundColor('#2b2b2b')
|
||
|
||
# 创建曲线
|
||
curve = plot_widget.plot(pen=colors[i], name=f"通道 {i+1}")
|
||
|
||
container_layout.addWidget(plot_widget)
|
||
|
||
# 将控件添加到网格布局中
|
||
plot_layout.addWidget(container, i // 2, i % 2)
|
||
|
||
self.plot_widgets.append(plot_widget)
|
||
self.curves.append(curve)
|
||
self.stats_labels.append(stats_label) # 保存统计标签引用
|
||
|
||
layout.addLayout(plot_layout)
|
||
|
||
# 创建状态栏
|
||
status_bar = QHBoxLayout()
|
||
self.status_label = QLabel("就绪")
|
||
self.fps_label = QLabel("FPS: 0")
|
||
status_bar.addWidget(self.status_label)
|
||
status_bar.addStretch()
|
||
status_bar.addWidget(self.fps_label)
|
||
layout.addLayout(status_bar)
|
||
|
||
def setup_plot(self):
|
||
"""设置绘图参数"""
|
||
# 设置pyqtgraph的性能选项
|
||
pg.setConfigOptions(antialias=False) # 关闭抗锯齿以提高性能
|
||
pg.setConfigOptions(useOpenGL=True) # 使用OpenGL加速
|
||
|
||
def setup_data(self):
|
||
"""设置数据存储"""
|
||
self.max_points = 1000000 # 增加缓冲区大小以存储更多数据
|
||
self.data_buffer = np.zeros((8, self.max_points))
|
||
self.time_buffer = np.zeros(self.max_points)
|
||
self.current_index = 0
|
||
self.is_paused = False
|
||
self.last_update_time = time.time()
|
||
self.frame_count = 0
|
||
self.start_time = None
|
||
self.last_scroll_time = time.time()
|
||
self.last_frame_time = 0 # 上次收到数据的时间
|
||
self.frame_interval = 1.0 / 1000.0 # 默认1000Hz
|
||
self.last_view_time = 0 # 上次视图更新时间
|
||
self.is_running = False # 添加运行状态标志
|
||
|
||
# 添加每个通道的点数统计
|
||
self.channel_points = [0] * 8
|
||
self.channel_points_per_second = [0.0] * 8
|
||
self.last_channel_points = [0] * 8
|
||
self.last_stats_update = time.time()
|
||
|
||
# 创建更新定时器
|
||
self.update_timer = QTimer()
|
||
self.update_timer.timeout.connect(self.update_plot)
|
||
self.update_timer.start(16) # 约60FPS
|
||
|
||
def add_data(self, frame_data: bytes):
|
||
"""添加新数据
|
||
Args:
|
||
frame_data: 原始帧数据（bytes）
|
||
"""
|
||
if self.is_paused:
|
||
return
|
||
|
||
# 解析帧数据
|
||
frame = FrameFormat.parse_frame(frame_data)
|
||
if frame is None:
|
||
return
|
||
|
||
if self.start_time is None:
|
||
self.start_time = time.time()
|
||
|
||
current_time = time.time() - self.start_time
|
||
self.last_frame_time = current_time # 更新最后收到数据的时间
|
||
|
||
# 更新数据缓冲区，只取前8个通道
|
||
for i in range(min(8, len(frame.channels))):
|
||
# 将通道数据转换为浮点数
|
||
value = float(frame.channels[i]) / 1000.0 # 因为数据放大了1000倍
|
||
self.data_buffer[i, self.current_index] = value
|
||
self.channel_points[i] += 1
|
||
|
||
# 更新时间和索引
|
||
self.time_buffer[self.current_index] = current_time
|
||
self.current_index = (self.current_index + 1) % self.max_points
|
||
|
||
# 如果缓冲区已满，增加缓冲区大小
|
||
if self.current_index == 0:
|
||
new_size = self.max_points * 2
|
||
new_data_buffer = np.zeros((8, new_size))
|
||
new_time_buffer = np.zeros(new_size)
|
||
|
||
# 复制旧数据
|
||
new_data_buffer[:, :self.max_points] = self.data_buffer
|
||
new_time_buffer[:self.max_points] = self.time_buffer
|
||
|
||
# 更新缓冲区
|
||
self.data_buffer = new_data_buffer
|
||
self.time_buffer = new_time_buffer
|
||
self.max_points = new_size
|
||
self.current_index = self.max_points // 2 # 从中间开始存储新数据
|
||
|
||
# 更新点数/秒统计（降低更新频率）
|
||
current_stats_time = time.time()
|
||
if current_stats_time - self.last_stats_update >= 1.0:
|
||
for i in range(8):
|
||
points_diff = self.channel_points[i] - self.last_channel_points[i]
|
||
self.channel_points_per_second[i] = points_diff / (current_stats_time - self.last_stats_update)
|
||
self.last_channel_points[i] = self.channel_points[i]
|
||
# 更新统计标签
|
||
self.stats_labels[i].setText(
|
||
f"点数: {self.channel_points[i]} | 点数/秒: {self.channel_points_per_second[i]:.1f}"
|
||
)
|
||
|
||
def update_plot(self):
|
||
"""更新绘图"""
|
||
if self.is_paused:
|
||
return
|
||
|
||
current_time = time.time()
|
||
if self.start_time is not None:
|
||
current_time = current_time - self.start_time
|
||
|
||
time_scale = self.time_scale_spin.value() / 1000.0 # 转换为秒
|
||
self.frame_interval = 1.0 / self.frame_rate_spin.value() # 更新帧间隔
|
||
|
||
# 计算时间增量
|
||
time_delta = current_time - self.last_view_time
|
||
self.last_view_time = current_time
|
||
|
||
# 更新所有通道的曲线数据
|
||
for i in range(8):
|
||
if not self.is_running:
|
||
continue
|
||
|
||
# 获取当前通道的所有数据点
|
||
if self.current_index <= self.max_points:
|
||
time_data = self.time_buffer[:self.current_index]
|
||
data = self.data_buffer[i, :self.current_index]
|
||
else:
|
||
# 当缓冲区满时，只保留最新的数据
|
||
start_idx = self.current_index - self.max_points
|
||
time_data = self.time_buffer[start_idx:self.current_index]
|
||
data = self.data_buffer[i, start_idx:self.current_index]
|
||
|
||
# 如果没有数据，创建空数据
|
||
if len(time_data) == 0:
|
||
time_data = np.array([current_time])
|
||
data = np.array([0.0])
|
||
|
||
# 更新曲线数据
|
||
self.curves[i].setData(
|
||
time_data,
|
||
data,
|
||
antialias=False,
|
||
skipFiniteCheck=True
|
||
)
|
||
|
||
# 计算显示范围
|
||
current_time_value = time_data[-1]
|
||
view_start = max(0, current_time_value - time_scale)
|
||
|
||
# 平滑滚动
|
||
current_view = self.plot_widgets[i].getViewBox().state['viewRange'][0]
|
||
target_start = view_start
|
||
target_end = current_time_value
|
||
|
||
# 使用线性插值实现平滑滚动
|
||
scroll_speed = 0.1 # 滚动速度因子
|
||
new_start = current_view[0] + (target_start - current_view[0]) * scroll_speed
|
||
new_end = current_view[1] + (target_end - current_view[1]) * scroll_speed
|
||
|
||
self.plot_widgets[i].setXRange(new_start, new_end, padding=0)
|
||
|
||
# 更新FPS
|
||
self.frame_count += 1
|
||
if current_time - self.last_update_time >= 1.0:
|
||
fps = self.frame_count / (current_time - self.last_update_time)
|
||
self.fps_label.setText(f"FPS: {fps:.1f}")
|
||
self.frame_count = 0
|
||
self.last_update_time = current_time
|
||
|
||
def auto_scale(self):
|
||
"""自动缩放坐标轴"""
|
||
for plot_widget in self.plot_widgets:
|
||
plot_widget.autoRange()
|
||
|
||
def toggle_pause(self):
|
||
"""切换暂停状态"""
|
||
self.is_paused = self.pause_btn.isChecked()
|
||
self.status_label.setText("已暂停" if self.is_paused else "就绪")
|
||
|
||
def start(self):
|
||
"""开始数据采集"""
|
||
self.is_running = True
|
||
if self.start_time is None:
|
||
self.start_time = time.time()
|
||
self.status_label.setText("数据采集中")
|
||
|
||
def stop(self):
|
||
"""停止数据采集"""
|
||
self.is_running = False
|
||
self.status_label.setText("已停止")
|
||
|
||
def clear_data(self):
|
||
"""清除所有数据"""
|
||
self.data_buffer.fill(0)
|
||
self.time_buffer.fill(0)
|
||
self.current_index = 0
|
||
self.start_time = None
|
||
self.channel_points = [0] * 8 # 重置点数统计
|
||
self.channel_points_per_second = [0.0] * 8
|
||
self.last_channel_points = [0] * 8
|
||
for curve in self.curves:
|
||
curve.setData([], [])
|
||
|
||
def closeEvent(self, event):
|
||
"""关闭事件处理"""
|
||
self.update_timer.stop()
|
||
super().closeEvent(event) |