GUI for finger v1
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ykcheungab
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"""Embedded PyQtGraph force charts for the Qt dashboard."""
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from __future__ import annotations
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import numpy as np
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from PyQt5.QtGui import QFont
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from PyQt5.QtWidgets import QSizePolicy
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from gui.layout import DashboardLayout, LAYOUT
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from pipeline.frame import FingerFrameView
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from viz.signal_filters import lowpass_filter
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def _require_pyqtgraph():
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try:
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import pyqtgraph as pg
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except ImportError as exc:
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raise ImportError(
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"PyQtGraph is not installed. Install with: pip install pyqt5 pyqtgraph"
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) from exc
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return pg
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class ForceChartWidget:
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"""Rolling normal/shear force charts as an embeddable QWidget."""
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def __init__(
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self,
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*,
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layout: DashboardLayout = LAYOUT,
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lowpass_cutoff_hz: float = 5.0,
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parent=None,
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):
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pg = _require_pyqtgraph()
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pg.setConfigOption("background", "#000000")
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pg.setConfigOption("foreground", "#777777")
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pg.setConfigOptions(antialias=True)
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self._layout = layout
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self._pg = pg
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self.npoints = layout.plot_buffer_points
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self.sample_rate_hz = layout.plot_sample_rate_hz
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self.lowpass_cutoff_hz = lowpass_cutoff_hz
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self._plot_window_sec = self.npoints / self.sample_rate_hz
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self._plot_sample_count = 0
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self._y_range_alpha = layout.y_range_smooth_alpha
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self._y_range_smooth: list[tuple[float, float] | None] = [None, None, None]
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self.widget = pg.GraphicsLayoutWidget(parent=parent)
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charts = layout.top_slot("charts")
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self.set_panel_size(charts.width_px, charts.height_px)
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self._init_plot_buffer()
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self._create_plots()
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def set_panel_size(self, width: int, height: int) -> None:
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"""Apply layout width/height; height 0 means fill top-row height."""
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width = max(int(width), 64)
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self.widget.setFixedWidth(width)
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if height > 0:
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self.widget.setFixedHeight(height)
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self.widget.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
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else:
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self.widget.setMaximumHeight(16777215)
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self.widget.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Expanding)
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def _init_plot_buffer(self) -> None:
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self.data = np.full((self.npoints, 2, 3), np.nan, dtype=np.float64)
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self._plot_sample_count = 0
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self._y_range_smooth = [None, None, None]
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def _create_plots(self) -> None:
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pg = self._pg
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layout = self._layout
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titles = ["法向力", "切向力 X", "切向力 Y"]
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self.plots = []
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self.curves = []
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self.dot_glows = []
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self.dot_cores = []
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axis_pen = pg.mkPen(color=(38, 38, 38), width=1)
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label_font = QFont("SimHei", layout.chart_axis_label_font_pt)
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title_pt = layout.chart_title_font_pt
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for i, title in enumerate(titles):
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plot = self.widget.addPlot(title=None)
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plot.setTitle(title, color="#999999", size=f"{title_pt}pt")
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plot.titleLabel.setFont(QFont("SimHei", title_pt))
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plot.setLabel("bottom", "时间", units="s")
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plot.getAxis("bottom").label.setFont(label_font)
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plot.showAxis("top", False)
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plot.showAxis("right", False)
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plot.getAxis("left").setPen(axis_pen)
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plot.getAxis("bottom").setPen(axis_pen)
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plot.showGrid(x=False, y=True, alpha=0.12)
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tick_font = QFont("Consolas", layout.chart_tick_font_pt)
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tick_font.setStyleHint(QFont.Monospace)
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plot.getAxis("left").setTickFont(tick_font)
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plot.getAxis("bottom").setTickFont(tick_font)
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line_pen = pg.mkPen(color=layout.curve_color, width=2)
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curve = plot.plot(pen=line_pen, fillLevel=0)
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dot_glow = plot.plot(
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[],
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[],
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pen=None,
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symbol="o",
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symbolSize=8,
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symbolPen=None,
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symbolBrush=(0, 229, 255, 76),
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)
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dot_core = plot.plot(
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[],
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[],
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pen=None,
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symbol="o",
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symbolSize=4,
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symbolPen=None,
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symbolBrush=(255, 255, 255, 255),
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)
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plot.setXRange(0, self._plot_window_sec, padding=0)
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plot.enableAutoRange(x=False, y=False)
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self.plots.append(plot)
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self.curves.append(curve)
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self.dot_glows.append(dot_glow)
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self.dot_cores.append(dot_core)
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if i < 2:
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self.widget.nextRow()
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def reset(self) -> None:
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self._init_plot_buffer()
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for plot in self.plots:
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plot.setXRange(0, self._plot_window_sec, padding=0)
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def update_frame(self, frame: FingerFrameView) -> None:
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if self._plot_sample_count < self.npoints:
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idx = self._plot_sample_count
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self.data[idx, 0, :] = frame.timestamp
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self.data[idx, 1, 0] = frame.fnormal
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self.data[idx, 1, 1] = frame.fshearx
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self.data[idx, 1, 2] = frame.fsheary
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self._plot_sample_count += 1
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else:
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for channel in range(3):
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self.data[:-1, 0, channel] = self.data[1:, 0, channel]
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self.data[:-1, 1, channel] = self.data[1:, 1, channel]
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self.data[-1, 0, :] = frame.timestamp
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self.data[-1, 1, 0] = frame.fnormal
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self.data[-1, 1, 1] = frame.fshearx
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self.data[-1, 1, 2] = frame.fsheary
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n = self._plot_sample_count
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if n == 0:
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return
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layout = self._layout
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data_plot = self.data[:n].copy()
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times = data_plot[:, 0, 0] - float(data_plot[0, 0, 0])
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for channel in range(3):
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data_plot[:, 1, channel] = lowpass_filter(
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data_plot[:, 1, channel],
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self.lowpass_cutoff_hz,
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sample_rate_hz=self.sample_rate_hz,
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)
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x_end = float(times[-1])
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x_start = max(0.0, x_end - self._plot_window_sec)
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if x_end - x_start < self._plot_window_sec:
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x_start = 0.0
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x_end = max(self._plot_window_sec, x_end)
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for i, curve in enumerate(self.curves):
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y = data_plot[:, 1, i]
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curve.setData(times, y)
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finite = np.isfinite(y)
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if not np.any(finite):
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continue
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ymin, ymax = float(np.min(y[finite])), float(np.max(y[finite]))
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if self._y_range_smooth[i] is None:
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self._y_range_smooth[i] = (ymin, ymax)
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else:
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prev_min, prev_max = self._y_range_smooth[i]
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alpha = self._y_range_alpha
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ymin = alpha * ymin + (1 - alpha) * prev_min
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ymax = alpha * ymax + (1 - alpha) * prev_max
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span = ymax - ymin
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if span < layout.y_axis_min_span:
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mid = (ymin + ymax) / 2
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half = layout.y_axis_min_span / 2
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ymin = mid - half
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ymax = mid + half
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self._y_range_smooth[i] = (ymin, ymax)
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pad = max((ymax - ymin) * 0.12, 0.01)
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self.plots[i].setYRange(ymin - pad, ymax + pad)
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last_x = times[-1:]
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last_y = y[-1:]
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self.dot_glows[i].setData(last_x, last_y)
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self.dot_cores[i].setData(last_x, last_y)
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for plot in self.plots:
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plot.setXRange(x_start, x_end, padding=0)
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