uwb_multi_range_node.py 文件源码

def update_visualization(self, tofs, ranges, clock_offsets, clock_skews, slave_clock_offset, slave_clock_skew):
        if not self.show_plots:
            return

        import pyqtgraph
        num_of_units = len(tofs)

        # ranges
        while len(self.range_plot) < num_of_units:
            curve_index = len(self.range_plot)
            pen = pyqtgraph.mkPen(curve_index)
            self.range_plot.add_curve(pen=pen, name="{}".format(curve_index))
        for i in xrange(num_of_units):
            self.range_plot.add_point(i, ranges[i])

        # clock offset
        while len(self.clock_offset_plot) < num_of_units:
            curve_index = len(self.clock_offset_plot)
            pen = pyqtgraph.mkPen(curve_index)
            self.clock_offset_plot.add_curve(pen=pen, name="{}".format(curve_index))
        if self.show_slave_clock_offset:
            if len(self.clock_offset_plot) < num_of_units + 1:
                curve_index = len(self.clock_offset_plot)
                pen = pyqtgraph.mkPen(curve_index)
                self.clock_offset_plot.add_curve(pen=pen, name="slave")
        for i in xrange(num_of_units):
            self.clock_offset_plot.add_point(i, clock_offsets[i])
        if self.show_slave_clock_offset:
            self.clock_offset_plot.add_point(len(self.clock_offset_plot) - 1, slave_clock_offset)

        # clock skew
        while len(self.clock_skew_plot) < num_of_units:
            curve_index = len(self.clock_skew_plot)
            pen = pyqtgraph.mkPen(curve_index)
            self.clock_skew_plot.add_curve(pen=pen, name="{}".format(curve_index))
        if self.show_slave_clock_skew:
            if len(self.clock_skew_plot) < num_of_units + 1:
                curve_index = len(self.clock_skew_plot)
                pen = pyqtgraph.mkPen(curve_index)
                self.clock_skew_plot.add_curve(pen=pen, name="slave")
        for i in xrange(num_of_units):
            self.clock_skew_plot.add_point(i, clock_skews[i])
        if self.show_slave_clock_skew:
            self.clock_skew_plot.add_point(len(self.clock_skew_plot) - 1, slave_clock_skew)