ykcheungab
70 lines
2.4 KiB
Python
70 lines
2.4 KiB
Python
"""PyQtGraph real-time force chart window for examples."""
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from __future__ import annotations
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import numpy as np
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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 ForceChartWindow:
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"""Rolling normal/shear force charts backed by PyQtGraph."""
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def __init__(
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self,
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*,
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npoints: int = 100,
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sample_rate_hz: float = 30.0,
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title: str = "Orisys 实时力曲线",
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app_name: str = "Orisys Plot Example",
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) -> None:
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pg = _require_pyqtgraph()
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pg.setConfigOption("background", "w")
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pg.setConfigOption("foreground", "k")
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self._pg = pg
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self.npoints = npoints
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self.sample_rate_hz = sample_rate_hz
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self.app = pg.mkQApp(app_name)
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self.win = pg.GraphicsLayoutWidget(show=True, title=title)
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self.win.setWindowTitle(title)
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self.data = np.zeros((npoints, 2, 3), dtype=np.float64)
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for channel in range(3):
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self.data[:, 0, channel] = np.linspace(-npoints, 0, npoints) / sample_rate_hz
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p1 = self.win.addPlot(title="法向力")
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p1.setLabel("bottom", "时间", units="s")
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self.win.nextRow()
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p2 = self.win.addPlot(title="切向力 X")
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p2.setLabel("bottom", "时间", units="s")
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self.win.nextRow()
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p3 = self.win.addPlot(title="切向力 Y")
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p3.setLabel("bottom", "时间", units="s")
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self._plots = (p1, p2, p3)
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self._curves = (p1.plot(pen="k"), p2.plot(pen="k"), p3.plot(pen="k"))
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def push(self, timestamp: float, fn: float, fx: float, fy: float) -> None:
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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, :] = timestamp
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self.data[-1, 1, 0] = fn
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self.data[-1, 1, 1] = fx
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self.data[-1, 1, 2] = fy
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def refresh(self, display_data: np.ndarray | None = None) -> None:
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plot_data = self.data if display_data is None else display_data
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for channel, (plot, curve) in enumerate(zip(self._plots, self._curves)):
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curve.setData(plot_data[:, :, channel])
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plot.setYRange(float(plot_data[:, 1, channel].min()), float(plot_data[:, 1, channel].max()))
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