split example visualizaiton pipeline

2026-06-18 13:47:16 +08:00
parent fbee1c37ed
commit f19f092b64
42 changed files with 3067 additions and 702 deletions
@@ -0,0 +1,69 @@
+"""PyQtGraph real-time force chart window for examples."""
+
+from __future__ import annotations
+
+import numpy as np
+
+
+def _require_pyqtgraph():
+    try:
+        import pyqtgraph as pg
+    except ImportError as exc:
+        raise ImportError(
+            "PyQtGraph is not installed. Install with: pip install pyqt5 pyqtgraph"
+        ) from exc
+    return pg
+
+
+class ForceChartWindow:
+    """Rolling normal/shear force charts backed by PyQtGraph."""
+
+    def __init__(
+        self,
+        *,
+        npoints: int = 100,
+        sample_rate_hz: float = 30.0,
+        title: str = "Orisys 实时力曲线",
+        app_name: str = "Orisys Plot Example",
+    ) -> None:
+        pg = _require_pyqtgraph()
+        pg.setConfigOption("background", "w")
+        pg.setConfigOption("foreground", "k")
+
+        self._pg = pg
+        self.npoints = npoints
+        self.sample_rate_hz = sample_rate_hz
+        self.app = pg.mkQApp(app_name)
+        self.win = pg.GraphicsLayoutWidget(show=True, title=title)
+        self.win.setWindowTitle(title)
+
+        self.data = np.zeros((npoints, 2, 3), dtype=np.float64)
+        for channel in range(3):
+            self.data[:, 0, channel] = np.linspace(-npoints, 0, npoints) / sample_rate_hz
+
+        p1 = self.win.addPlot(title="法向力")
+        p1.setLabel("bottom", "时间", units="s")
+        self.win.nextRow()
+        p2 = self.win.addPlot(title="切向力 X")
+        p2.setLabel("bottom", "时间", units="s")
+        self.win.nextRow()
+        p3 = self.win.addPlot(title="切向力 Y")
+        p3.setLabel("bottom", "时间", units="s")
+
+        self._plots = (p1, p2, p3)
+        self._curves = (p1.plot(pen="k"), p2.plot(pen="k"), p3.plot(pen="k"))
+
+    def push(self, timestamp: float, fn: float, fx: float, fy: float) -> None:
+        for channel in range(3):
+            self.data[:-1, 0, channel] = self.data[1:, 0, channel]
+            self.data[:-1, 1, channel] = self.data[1:, 1, channel]
+        self.data[-1, 0, :] = timestamp
+        self.data[-1, 1, 0] = fn
+        self.data[-1, 1, 1] = fx
+        self.data[-1, 1, 2] = fy
+
+    def refresh(self, display_data: np.ndarray | None = None) -> None:
+        plot_data = self.data if display_data is None else display_data
+        for channel, (plot, curve) in enumerate(zip(self._plots, self._curves)):
+            curve.setData(plot_data[:, :, channel])
+            plot.setYRange(float(plot_data[:, 1, channel].min()), float(plot_data[:, 1, channel].max()))