rtk_fix_plot_frame.py 文件源码

def __init__(self, parent_window):
        # Topic Names.
        self.topic_names = self.get_topic_names()

        self.main_label = Label(parent_window, text="RTK Fix Plot", font="Times 14 bold")
        self.main_label.grid(row=0, columnspan=2)

        # Plot for RTK fix.
        self.first_receiver_state_received = False
        self.first_time_receiver_state = 0

        self.figure = Figure(figsize=(figureSizeWidth, figureSizeHeight), dpi=75)

        self.axes_rtk_fix = self.figure.add_subplot(111)
        self.axes_rtk_fix.set_xlabel('Time [s]')
        self.axes_rtk_fix.set_ylabel('RTK Fix')
        self.axes_rtk_fix.grid()
        self.figure.tight_layout()
        self.axes_rtk_fix.set_yticks([0.0, 1.0])

        self.canvas = FigureCanvasTkAgg(self.figure, master=parent_window)
        self.canvas.show()
        self.canvas.get_tk_widget().grid(rowspan=4, columnspan=2)

        # Position data.
        self.odometry_msg_count = 0
        self.time_rtk_fix = deque([], maxlen=maxLengthDequeArray)
        self.rtk_fix = deque([], maxlen=maxLengthDequeArray)
        self.line_rtk_fix = []

        # Subscribe to topics.
        rospy.Subscriber(self.topic_names['piksi_receiver_state'], ReceiverState,
                         self.receiver_state_callback)