visual

Former-commit-id: 98742561a1e9f3a19111762d29c5d1fbec4920c6

utils.py

@@ -3,9 +3,12 @@ import os
 from datetime import datetime
 from enum import Enum
 from dataclasses import dataclass
-from typing import List, Tuple, Optional
+from typing import List, Tuple, Optional, Any
 import numpy as np
 import time
+import matplotlib.pyplot as plt
+from matplotlib.animation import FuncAnimation
+import threading
 
 @dataclass
 class HistoryRecord:
@@ -20,12 +23,14 @@ class HistoryRecord:
 class History:
     """滑动窗口历史记录管理类"""
     
-    def __init__(self, max_window_size: float = 5.0, base_time = 5.0):
+    def __init__(self, max_window_size: float = 5.0, base_time = 5.0, display: bool = True):
         """
         初始化历史记录管理器
         
         Args:
             max_window_size: 最大窗口时间长度（秒）
+            base_time: 基准时间长度（秒）
+            display: 是否开启实时可视化显示
         """
         if base_time > max_window_size:
             max_window_size = base_time+0.2
@@ -34,11 +39,21 @@ class History:
         self.max_window_size = max_window_size
         self.fulled = False
         self.base = None
-        self._base_time = base_time 
-    
+        self._base_time = base_time        # 可视化相关属性
+        self.display = display
+        self.fig: Any = None
+        self.ax: Any = None
+        self.line: Any = None
+        self.base_line: Any = None  # 基准线的引用
+        self.animation: Any = None
+        self._plot_thread: Optional[threading.Thread] = None
+        self._plot_running = False
+        
+        if self.display:
+            self._setup_plot()
     def add_record(self, timestamp: float, state: str, rate: float, volume: float, image: np.ndarray):
         """添加新的历史记录"""
-        record = HistoryRecord(timestamp, state,rate, volume, image)
+        record = HistoryRecord(timestamp, state, rate, volume, image)
         self.records.append(record)
         self._cleanup_old_records(timestamp)
         if self.base is None and (timestamp-self._base_time)>= self.records[0].timestamp: 
@@ -101,7 +116,163 @@ class History:
     def clear(self):
         """清空所有历史记录"""
         self.records.clear()
-
+        if self.display:
+            self._stop_plot()
+    
+    def _setup_plot(self):
+        """设置matplotlib图表"""
+        plt.ion()  # 交互式模式
+        self.fig, self.ax = plt.subplots(figsize=(10, 6))
+        self.ax.set_title('实时Rate值变化')
+        self.ax.set_xlabel('时间 (s)')
+        self.ax.set_ylabel('Rate值')
+        self.ax.grid(True, alpha=0.3)
+        
+        # 初始化空线条
+        self.line, = self.ax.plot([], [], 'b-', linewidth=2, label='Rate')
+        self.base_line = None  # 基准线的引用
+        self.ax.legend()
+        
+        # 启动更新线程
+        self._plot_running = True
+        self._plot_thread = threading.Thread(target=self._update_plot_loop, daemon=True)
+        self._plot_thread.start()
+    
+    def _update_plot_loop(self):
+        """绘图更新循环"""
+        while self._plot_running:
+            try:
+                self._update_plot()
+                time.sleep(0.1)  # 100ms更新间隔
+            except Exception as e:
+                get_vision_logger().error(f"Plot update error: {e}")
+                break
+    def _update_plot(self):
+        """更新图表数据 - 按照matplotlib推荐的方式重构"""
+        if not self.records:
+            return
+            
+        start_time = time.time()
+        
+        try:
+            # 获取时间和rate数据
+            timestamps = [record.timestamp for record in self.records]
+            rates = [record.rate for record in self.records]
+            
+            if not timestamps:
+                return
+                
+            # 将时间戳转换为相对时间（从第一个记录开始）
+            start_timestamp = timestamps[0]
+            relative_times = [(t - start_timestamp) for t in timestamps]
+            
+            # 更新主线条数据
+            self.line.set_data(relative_times, rates)
+            
+            # 处理base线
+            self._update_base_line()
+            
+            # 自动调整坐标轴范围
+            self._update_axis_limits(relative_times, rates)
+            
+            # 使用推荐的绘制方式
+            self.ax.draw_artist(self.line)
+            self.fig.canvas.draw()  # 使用draw_idle而不是draw
+            
+        except Exception as e:
+            get_vision_logger().error(f"Plot update error: {e}")
+        finally:
+            # 性能监控
+            elapsed = time.time() - start_time
+            if elapsed > 0.1:
+                get_vision_logger().warning(f"Plot update took too long: {elapsed:.3f}s")
+    
+    def _update_base_line(self):
+        """更新或创建基准线"""
+        if self.base is not None:
+            if self.base_line is None:
+                # 首次创建基准线
+                self.base_line = self.ax.axhline(
+                    y=self.base, 
+                    color='r', 
+                    linestyle='--', 
+                    alpha=0.7, 
+                    label=f'Base Rate: {self.base:.2f}'
+                )
+                # 更新图例
+                self.ax.legend()
+            else:
+                # 更新现有基准线的位置
+                self.base_line.set_ydata([self.base, self.base])
+                # 更新标签
+                self.base_line.set_label(f'Base Rate: {self.base:.2f}')
+                self.ax.legend()
+        elif self.base_line is not None:
+            # 如果base被重置，移除基准线
+            self.base_line.remove()
+            self.base_line = None
+            self.ax.legend()
+    
+    def _update_axis_limits(self, relative_times, rates):
+        """智能更新坐标轴范围"""
+        if not relative_times or not rates:
+            return
+            
+        # X轴范围
+        max_time = max(relative_times)
+        self.ax.set_xlim(0, max_time + max(1, max_time * 0.05))  # 添加5%的边距
+        
+        # Y轴范围计算
+        min_rate, max_rate = min(rates), max(rates)
+        
+        if self.base is not None:
+            # 如果有基准线，确保Y轴范围合理
+            y_min = 0
+            y_max = min(max(self.base * 35, max_rate * 1.2), 100)  # 限制最大值为100
+        else:
+            # 没有基准线时的默认范围
+            margin = (max_rate - min_rate) * 0.1 if max_rate > min_rate else 1
+            y_min = max(0, min_rate - margin)
+            y_max = max_rate + margin
+        
+        self.ax.set_ylim(y_min, y_max)
+    def _stop_plot(self):
+        """停止绘图"""
+        self._plot_running = False
+        if self._plot_thread and self._plot_thread.is_alive():
+            self._plot_thread.join(timeout=1.0)
+        if self.fig:
+            plt.close(self.fig)
+            self.fig = None
+            self.ax = None
+            self.line = None
+            self.base_line = None
+    
+    def save_plot(self, filename: Optional[str] = None):
+        """保存当前图表"""
+        if not self.display or not self.fig:
+            get_vision_logger().warning("Plot not initialized, cannot save")
+            return
+        
+        if filename is None:
+            timestamp = datetime.now().strftime('%Y%m%d_%H%M%S')
+            filename = f"rate_plot_{timestamp}.png"
+        
+        try:
+            self.fig.savefig(filename, dpi=300, bbox_inches='tight')
+            get_vision_logger().info(f"Plot saved to {filename}")
+        except Exception as e:
+            get_vision_logger().error(f"Failed to save plot: {e}")
+    
+    def toggle_display(self):
+        """切换显示状态"""
+        if self.display:
+            self._stop_plot()
+            self.display = False
+        else:
+            self.display = True
+            self._setup_plot()
+    
 
 class State:
     """滴定状态管理类"""