227 lines
9.7 KiB
Python
227 lines
9.7 KiB
Python
from PySide6.QtWidgets import QApplication, QMainWindow, QSlider, QVBoxLayout, QComboBox, QWidget, QPushButton, QToolBar, QGridLayout, QHBoxLayout, QLabel, QRadioButton, QScrollArea, QSizePolicy, QSpacerItem
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from PySide6.QtCore import Qt, QTimer, QSize, QPointF
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from PySide6.QtCharts import QChart, QChartView, QLineSeries, QValueAxis
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from PySide6.QtGui import QAction, QPainter, QColor, QIcon, QFont
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from codes.common import clibs
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import os
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import pandas
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class ChartWindow(QMainWindow):
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curve_map = {
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"周期内平均转矩": ["device_servo_trq_feedback", ],
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"周期内最大速度": ["hw_joint_vel_feedback", ],
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}
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ylabels = {"周期内最大速度": "速度(rad/s)", "周期内平均转矩": "转矩(Nm)"}
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colors = [QColor(255, 0, 0), QColor(255, 0, 0), QColor(0, 0, 255), QColor(0, 255, 0), QColor(254, 153, 0), QColor(0, 255, 255), QColor(255, 0, 255), QColor(0, 0, 0), QColor(255, 255, 255), QColor(128, 128, 128), QColor(255, 182, 193), QColor(173, 216, 230), QColor(144, 238, 144)]
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def __init__(self, dir_path, procs):
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super().__init__()
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self.procs = procs
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self.dir_path = dir_path
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self.setup_ui()
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self.detect_files()
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# self.timer = QTimer()
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# self.timer.timeout.connect(self.reset_zoom)
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# self.timer.start(60000) # 60000ms 更新一次数据
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def detect_files(self):
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with open(f"{clibs.PREFIX}/qss/style.qss", mode="r", encoding="utf-8") as f_qss:
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style_sheet = f_qss.read()
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self.setStyleSheet(style_sheet)
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if not os.path.exists(self.dir_path):
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clibs.logger("ERROR", "curves_draw", f"数据文件夹{self.dir_path}不存在，请确认后重试......", "red")
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for proc_name, is_enabled in self.procs.items():
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if is_enabled:
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break
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else:
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clibs.logger("ERROR", "curves_draw", f"需要选择至少一个功能，才能继续绘图......", "red")
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_, files = clibs.traversal_files(self.dir_path)
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csv_files = []
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for file in files:
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if file.lower().endswith(".csv"):
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self.cb_func_name.addItem(file.split("/")[-1].split(".")[0])
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csv_files.append(file)
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if len(csv_files) == 0:
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clibs.logger("ERROR", "curves_draw", "程序未开始运行，暂无数据可以展示......", "red")
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self.reset_zoom()
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def get_current_info(self):
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self.func_name = self.cb_func_name.currentText()
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self.file_name = f"{self.dir_path}/{self.func_name}.csv"
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self.df = pandas.read_csv(self.file_name)
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self.horizontal_slider.setRange(0, len(self.df))
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def center_on_screen(self):
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screen_geometry = QApplication.primaryScreen().geometry()
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screen_width = screen_geometry.width()
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screen_height = screen_geometry.height()
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win_width = self.width()
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win_height = self.height()
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x = (screen_width - win_width) // 2
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y = (screen_height - win_height) // 2
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self.move(x, y)
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def setup_ui(self):
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self.setWindowTitle("曲线绘制")
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self.setGeometry(100, 100, 1000, 500)
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self.setWindowIcon(QIcon(f"{clibs.PREFIX}/media/icon.ico"))
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self.center_on_screen()
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# 窗体布局
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self.centralwidget = QWidget(self)
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self.centralwidget.setObjectName(u"centralwidget")
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self.gridLayout = QGridLayout(self.centralwidget)
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self.gridLayout.setObjectName(u"gridLayout")
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# 布局spinbox 和 label coordinate
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self.hl_spinbox_btn = QHBoxLayout()
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self.hl_spinbox_btn.setObjectName(u"hl_spinbox_btn")
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font = QFont()
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font.setFamilies([u"Consolas"])
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font.setPointSize(10)
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self.rb_x = QRadioButton(self.centralwidget)
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self.rb_x.setObjectName(u"rb_x")
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self.rb_x.setText(u"仅X轴缩放")
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self.rb_x.setFont(font)
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self.rb_y = QRadioButton(self.centralwidget)
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self.rb_y.setObjectName(u"rb_y")
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self.rb_y.setText(u"仅Y轴缩放")
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self.rb_y.setFont(font)
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self.rb_xy = QRadioButton(self.centralwidget)
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self.rb_xy.setObjectName(u"rb_xy")
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self.rb_xy.setText(u"XY轴缩放")
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self.rb_xy.setFont(font)
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self.rb_xy.setChecked(True)
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self.cb_func_name = QComboBox(self.centralwidget)
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self.cb_func_name.setObjectName(u"cb_func_name")
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self.cb_func_name.setMinimumSize(QSize(200, 0))
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self.cb_func_name.setFont(font)
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self.button_reset = QPushButton(self.centralwidget)
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self.button_reset.setObjectName(u"button_reset")
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self.button_reset.setFont(font)
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self.button_reset.setText(u"视图重置")
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self.horizontalSpacer = QSpacerItem(40, 20, QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Minimum)
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self.hl_spinbox_btn.addWidget(self.rb_x)
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self.hl_spinbox_btn.addWidget(self.rb_y)
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self.hl_spinbox_btn.addWidget(self.rb_xy)
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self.hl_spinbox_btn.addItem(self.horizontalSpacer)
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self.hl_spinbox_btn.addWidget(self.cb_func_name)
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self.hl_spinbox_btn.addWidget(self.button_reset)
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# 连接信号
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self.rb_x.clicked.connect(lambda: self.set_zoom_mode(QChartView.RubberBand.HorizontalRubberBand))
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self.rb_y.clicked.connect(lambda: self.set_zoom_mode(QChartView.RubberBand.VerticalRubberBand))
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self.rb_xy.clicked.connect(lambda: self.set_zoom_mode(QChartView.RubberBand.RectangleRubberBand))
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self.button_reset.clicked.connect(self.reset_zoom)
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self.cb_func_name.currentTextChanged.connect(self.cb_func_name_change)
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# 生成曲线图
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self.chart = QChart()
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self.chart.setTheme(QChart.ChartTheme.ChartThemeLight) # 设置主题
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self.chart.legend().setVisible(True)
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self.chart.legend().setAlignment(Qt.AlignmentFlag.AlignRight) # 图例右对齐
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self.chart_view = QChartView(self.chart)
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self.chart_view.setRubberBand(QChartView.RubberBand.RectangleRubberBand) # 矩形缩放
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self.chart_view.setRenderHint(QPainter.RenderHint.Antialiasing) # 抗锯齿
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self.axisX = QValueAxis()
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# self.axisX.setTitleText("X轴")
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self.axisX.setRange(0, 10) # 初始显示范围
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self.axisY = QValueAxis()
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# self.axisY.setTitleText("Y轴")
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self.axisY.setRange(-5, 5)
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self.chart.addAxis(self.axisX, Qt.AlignmentFlag.AlignBottom)
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self.chart.addAxis(self.axisY, Qt.AlignmentFlag.AlignLeft)
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# 创建水平滚动条
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self.horizontal_slider = QSlider(Qt.Orientation.Horizontal)
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self.horizontal_slider.valueChanged.connect(self.update_view)
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# self.horizontal_slider.setFixedHeight(200)
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# 左侧布局
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self.vl_central = QVBoxLayout()
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self.vl_central.setObjectName(u"vl_central")
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self.vl_central.addWidget(self.chart_view)
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self.vl_central.addWidget(self.horizontal_slider)
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self.vl_central.addLayout(self.hl_spinbox_btn)
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self.vl_central.setStretch(0, 20)
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self.vl_central.setStretch(1, 1)
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self.vl_central.setStretch(2, 1)
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self.gridLayout.addLayout(self.vl_central, 0, 0)
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self.setCentralWidget(self.centralwidget)
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def connect_legend_markers(self):
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for marker in self.chart.legend().markers():
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try:
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marker.clicked.disconnect()
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except:
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pass
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marker.clicked.connect(self.toggle_series_visibility)
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self.update_legend_style(marker)
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def update_legend_style(self, marker):
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alpha = 255 if marker.series().isVisible() else 128
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color = marker.labelBrush().color()
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color.setAlpha(alpha)
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marker.setLabelBrush(color)
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marker_color = marker.series().color()
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marker_color.setAlpha(alpha)
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marker.setBrush(marker_color)
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marker.setPen(marker_color.darker())
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def toggle_series_visibility(self):
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marker = self.sender()
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if series := marker.series():
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new_visibility = not series.isVisible()
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series.setVisible(new_visibility)
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self.update_legend_style(marker)
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marker.setVisible(True)
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def cb_func_name_change(self):
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self.reset_zoom()
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def set_zoom_mode(self, mode):
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"""设置缩放模式"""
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self.chart_view.setRubberBand(mode)
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# 取消其他按钮的选中状态
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self.rb_x.setChecked(mode == QChartView.RubberBand.HorizontalRubberBand)
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self.rb_y.setChecked(mode == QChartView.RubberBand.VerticalRubberBand)
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self.rb_xy.setChecked(mode == QChartView.RubberBand.RectangleRubberBand)
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def reset_zoom(self):
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self.chart.removeAllSeries()
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self.get_current_info()
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self.axisY.setTitleText(self.ylabels[self.func_name])
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series_s = [QLineSeries() for _ in range(18)]
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for col in range(1, len(self.df.columns)):
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self.series = series_s[col]
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self.chart.addSeries(self.series)
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self.series.attachAxis(self.axisX)
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self.series.attachAxis(self.axisY)
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data = [QPointF(idx, self.df.iloc[:, col].values[idx]) for idx in range(len(self.df))]
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self.series.append(data)
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self.series.setColor(self.colors[col])
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self.series.setName(self.df.columns[col])
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self.chart.zoomReset() # 重置所有缩放
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self.horizontal_slider.setValue(0)
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self.axisX.setRange(0, len(self.df))
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self.axisY.setRange(min(self.df.iloc[:, 1:].min())-1, max(self.df.iloc[:, 1:].max())+1)
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self.connect_legend_markers()
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def update_view(self):
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self.connect_legend_markers()
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# 自动滚动显示最新10个点
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if self.horizontal_slider.value() > 10:
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self.axisX.setRange(self.horizontal_slider.value() - 10, self.horizontal_slider.value())
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else:
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self.axisX.setRange(0, 10)
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