From 6e1682e59a1063f38ea0502df0c14de8a1dbb60b Mon Sep 17 00:00:00 2001 From: flt6 <1404262047@qq.com> Date: Wed, 4 Jun 2025 16:54:04 +0800 Subject: [PATCH] visual Former-commit-id: 98742561a1e9f3a19111762d29c5d1fbec4920c6 --- utils.py | 183 +++++++++++++++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 177 insertions(+), 6 deletions(-) diff --git a/utils.py b/utils.py index 9741192..f3ed303 100644 --- a/utils.py +++ b/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"""