pyqt+pyqtgraph+lka（界面制作）

pyqt+pyqtgraph+lka

使用环境：
win10，STM32F407串口输出，输出格式b’,’

界面：

main函数：

import os
import sys
import pyqtgraph as pg
import numpy as np
import threading
import serial
import serial.tools.list_ports
import array
import time
import PyQt5
from PyQt5.QtWidgets import *
from PyQt5.QtCore import pyqtSlot, QBasicTimer,Qt, QTimer,Qt
from PyQt5.QtWidgets import QDialog,QSplashScreen
from PyQt5 import QtWidgets
from PyQT_Form import Ui_Form
import math
from PyQt5.QtCore import *
from PyQt5.QtGui import *
from PyQt5.QtWidgets import *


jishu1 = 0  # type: int
#接收不到数据，循环10次之后退出
exit_sum = 0

#使用matplotlib模块绘图，可以嵌入到tkinter，但是性能不好
dis = np.zeros(80)  #左车道线距离
dis2 = dis
dis3 = np.zeros(80)  #右车道线距离
dis4 = dis3
dis5 = np.zeros(80) #方向盘转角
dis6 = dis5
dis7 = np.zeros(80)  #方位角
dis8 = dis7
dis9 = np.zeros(80)  #发送扭矩大小
dis10 = dis9

#截图命名
name_sum = 0
#pyqtgraph模块绘图，不能嵌入到tkinter，但是性能较好
gg = 0
zxd = 0
data = []
shuju = []
shuju2 = []
shuju3 = []
shuju4 = []
shuju5 = []
historyLength = 0
historyLength2 = 0


def good():
    print('good')


class WorkThread(QThread):
    trigger = pyqtSignal()

    def __int__(self):
        super(WorkThread, self).__init__()

    def run(self):
        ff = MyPyQT_Form()
        while 1:
            ff.lka_all()
            # ff.recv()

        # # 循环完毕后发出信号
        # self.trigger.emit()



class MyPyQT_Form(QtWidgets.QWidget,Ui_Form):
    def __init__(self):
        super(MyPyQT_Form,self).__init__()

        self.setupUi(self)
        self.app_pyqt()
        self.restart()

       # self.recv()

    def plotData(self):
        global gg
        # global lka_cs_in, c0_l_in, c0_r_in, angle_main_in, azi_main_in, Tor_Value, deviation_reminder
        global lka_cs_in, lka_sign_timer_in, lka_on_in, torque_in, angle_main_in, c0_l_in, c0_r_in, azi_main_in, deviation_reminder, \
            touchline_sign, Tor_Value, c0_l_lctype, c0_r_rtype, c2_l, c3_l, c2_r, c3_r, degree_confidence_l, degree_confidence_r, zxd
        global data,shuju,shuju2,shuju3,shuju4,shuju5
        global idx  # 内部作用域想改变外部域变量
        global historyLength
        global historyLength2
        gg = gg + 0.01
        # print('lka_cs_in', lka_cs_in)

        try:
            # tmp = math.sin(gg) #测试使用
            # tmp2 = math.cos(gg)
            # tmp3 = 10 * math.sin(gg)
            # tmp4 = 0.1 * math.sin(gg)
            tmp = float(c0_l_in)
            tmp2 = float(c0_r_in)
            tmp3 = float(angle_main_in)
            tmp4 = float(azi_main_in)
        except:
            tmp = 0
            tmp2 = 0
            tmp3 = 0
            tmp4 = 0

        try:
            tmp5 = float(Tor_Value)

        except:
            tmp5 = 0

        try:
            tmp6 = float(deviation_reminder)
        except:
            tmp6 = 0

        if len(data) <= historyLength:
            data.append(tmp)
            shuju.append(tmp2)
            shuju2.append(tmp3)
            shuju3.append(tmp4)
            shuju4.append(tmp5)
            shuju5.append(tmp6)
        else:
            data[:-1] = data[1:]  # 前移
            data[-1] = tmp
            shuju[:-1] = shuju[1:]  # 前移
            shuju[-1] = tmp2
            shuju2[:-1] = shuju2[1:]  # 前移
            shuju2[-1] = tmp3
            shuju3[:-1] = shuju3[1:]  # 前移
            shuju3[-1] = tmp4
            shuju4[:-1] = shuju4[1:]  # 前移
            shuju4[-1] = tmp5
            shuju5[:-1] = shuju5[1:]  # 前移
            shuju5[-1] = tmp6

        self.curve1.setData(data)
        self.curve2.setData(shuju)
        self.curve3.setData(shuju2)
        self.curve4.setData(shuju3)
        self.curve5.setData(shuju4)
        self.curve6.setData(shuju5)
        idx += 1

        try:
            self.lineEdit.clear()
            self.lineEdit.setText(str(float(lka_cs_in)))
            self.lineEdit_2.clear()
            self.lineEdit_2.setText(str(float(torque_in)))
            self.lineEdit_3.clear()
            self.lineEdit_3.setText(str(float(angle_main_in)))
            self.lineEdit_4.clear()
            self.lineEdit_4.setText(str(float(c0_l_in)))
            self.lineEdit_5.clear()
            self.lineEdit_5.setText(str(float(c0_r_in)))
            self.lineEdit_6.clear()
            self.lineEdit_6.setText(str(float(azi_main_in)))
            self.lineEdit_7.clear()
            self.lineEdit_7.setText(str(float(deviation_reminder)))
            self.lineEdit_8.clear()
            self.lineEdit_8.setText(str(float(lka_sign_timer_in)))
            self.lineEdit_9.clear()
            self.lineEdit_9.setText(str(float(Tor_Value)))
            self.lineEdit_10.clear()
            self.lineEdit_10.setText(str(float(touchline_sign)))
            self.lineEdit_11.clear()
            self.lineEdit_11.setText(str(float(lka_on_in)))
            self.lineEdit_12.clear()
            self.lineEdit_12.setText(str(float(degree_confidence_l)))
            self.lineEdit_13.clear()
            self.lineEdit_13.setText(str(float(degree_confidence_r)))
            self.lineEdit_14.clear()
            self.lineEdit_14.setText(str(float(c0_l_lctype)))
            self.lineEdit_15.clear()
            self.lineEdit_15.setText(str(float(c0_r_rtype)))
            self.lineEdit_16.clear()
            self.lineEdit_16.setText(str(float(c2_l)))
            self.lineEdit_17.clear()
            self.lineEdit_17.setText(str(float(c3_l)))
            self.lineEdit_18.clear()
            self.lineEdit_18.setText(str(float(c2_r)))
            self.lineEdit_19.clear()
            self.lineEdit_19.setText(str(float(c3_r)))
            self.lineEdit_20.clear()
            self.lineEdit_20.setText(str(float(zxd)))

            if float(lka_cs_in) >= 30.0:
                if float(degree_confidence_r) < 2 or float(degree_confidence_l) < 2:
                    self.textEdit.clear()
                    self.textEdit.setText('置信度较低\n不能识别车道线')
                elif deviation_reminder == b'1.0' and jishu1 == 0:
                    self.textEdit.clear()
                    self.textEdit.setText('左偏离')
                    if touchline_sign == b'1':
                        self.textEdit.clear()
                        self.textEdit.setText('左偏离+压线\n正在退出纠正...')
                elif deviation_reminder == b'-1.0' and jishu1 == 0:
                    self.textEdit.clear()
                    self.textEdit.setText('右偏离')
                    if touchline_sign == b'1':
                        self.textEdit.clear()
                        self.textEdit.setText('右偏离+压线\n正在退出纠正...')
                elif touchline_sign == b'1':
                    self.textEdit.clear()
                    self.textEdit.setText('压线\n正在退出纠正...')
                elif jishu1 == 1:
                    self.textEdit.clear()
                    self.textEdit.setText('数据错误')
                elif float(zxd == 1):
                    self.textEdit.clear()
                    self.textEdit.setText('已开启转向灯\nLKA未激活')
                else:
                    self.textEdit.clear()
            else:
                self.textEdit.clear()
                self.textEdit.setText('车速<30Km/h\nLKA未激活')
        except:
            pass

    def recv(self):  # 从串口获取数据
        # start1 = time.time()
        global exit_sum, jishu1

        try:
            data3 = serial1.readline()
            data_str = str(data3)

            if data_str.count(',') != 19:
                data3 = b'0,0,0,0.0,0.00,0.000,0.000,0.00,0.0,0,0.00,0,0,0.000,0.000,0.000,0.000,0,0,1\n'
                jishu1 = 1
                exit_sum = exit_sum + 1
            elif data_str.count(',') == 19:
                jishu1 = 0
                exit_sum = 0
                # end1 = time.time()
                # print(end1 - start1)
        except:
            data3 = b'0,0,0,0.0,0.00,0.000,0.000,0.00,0.0,0,0.00,0,0,0.000,0.000,0.000,0.000,0,0,2\n'

        # print('data3:',data3)
        return data3

    def app_pyqt(self):
        global idx, historyLength
        global data, shuju, shuju2, shuju3, shuju4, shuju5
        win = pg.GraphicsLayoutWidget(self.frame)
        self.verticalLayout.addWidget(win)
        win.setWindowTitle(u'实时监测卡车参数')

        data = array.array('d')  # 可动态改变数组的大小,double型数组
        shuju = array.array('d')  # 可动态改变数组的大小,double型数组
        shuju2 = array.array('d')
        shuju3 = array.array('d')
        shuju4 = array.array('d')
        shuju5 = array.array('d')

        historyLength = 200  # 横坐标长度
        p = win.addPlot()  # 把图p加入到窗口中
        p.showGrid(x=True, y=True)  # 把X和Y的表格打开
        p.setRange(xRange=[0, historyLength], yRange=[-4.0, 4.0], padding=0)
        p.setLabel(axis='left', text='左右车道线距离')  # 靠左
        p.setLabel(axis='bottom', text='time')
        p.setTitle('车道线距离')  # 表格的名字
        self.curve1 = p.plot(pen='w')  # 绘制一个图形
        self.curve2 = p.plot(pen='g')  # 绘制一个图形
        angle_steer = win.addPlot(left='方向盘转角', bottom='time',title='方向盘转角')
        angle_steer.showGrid(x=True, y=True)  # 把X和Y的表格打开
        angle_steer.setRange(xRange=[0, historyLength], yRange=[-180, 180], padding=0)
        self.curve3 = angle_steer.plot(pen='w')
        win.nextRow()
        azi = win.addPlot(left='方位角', bottom='time', title='方位角')
        azi.showGrid(x=True, y=True)  # 把X和Y的表格打开
        azi.setRange(xRange=[0, historyLength], yRange=[-0.2, 0.2], padding=0)
        self.curve4 = azi.plot(pen='w')
        T_send = win.addPlot(left='发送扭矩', bottom='time', title='发送扭矩')
        T_send.showGrid(x=True, y=True)  # 把X和Y的表格打开
        T_send.setRange(xRange=[0, historyLength], yRange=[-2, 2], padding=0)
        self.curve5 = T_send.plot(pen='r')
        self.curve6 = T_send.plot(pen='g')

        idx = 0
        timer = QTimer(self)
        timer.timeout.connect(self.plotData)
        timer.start(20)

    # 重启程序
    def restart(self):
        global data1, serial1, com_0, com_kou
        try:
            serial1.close()
        except:
            pass
        port_list22 = list(serial.tools.list_ports.comports())
        if len(port_list22) == 0:
            pass
        else:
            com_0 = str(port_list22[0])
            com_kou = com_0.split(' ')[0]

        try:
            serial1 = serial.Serial(com_kou, 115200, timeout=0.15)  # com_kou
            data1 = self.recv()  # 将数据进行解析
            self.lineEdit_21.clear()
            self.lineEdit_21.setText('串口已打开 g1')
        except:
            data1 = b'000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000\n'
            try:
                if serial1.isOpen():
                    self.lineEdit_21.clear()
                    self.lineEdit_21.setText('串口已打开 g2')
                else:
                    self.lineEdit_21.clear()
                    self.lineEdit_21.setText('串口未打开 error1')
            except:
                self.lineEdit_21.clear()
                self.lineEdit_21.setText('检测不到串口 error1')

    #主要数据处理
    def lka_all(self):

            global jishu1
            global lka_cs_in, lka_sign_timer_in, lka_on_in, torque_in, angle_main_in, c0_l_in, c0_r_in, azi_main_in, deviation_reminder, \
                touchline_sign, Tor_Value, c0_l_lctype, c0_r_rtype, c2_l, c3_l, c2_r, c3_r, degree_confidence_l, degree_confidence_r, zxd

            global exit_sum

            try:
                data1 = self.recv()  # 将数据进行解析

            except:
                data1 = b'0,0,0,0.0,0.00,0.000,0.000,0.00,0.0,0,0.00,0,0,0.000,0.000,0.000,0.000,0,0,3\n'

            # print('data1:',data1)
            if exit_sum > 9999:  #接收不到数据，循环10次之后退出
                os._exit(0)

            if data1 != b'':
                lka_cs_in = data1.split(str.encode(','))[0]  # 车速信息
                # self.lineEdit.clear()
                # self.lineEdit.setText(str(float(lka_cs_in)))

                lka_sign_timer_in = data1.split(str.encode(','))[1]  # 程序执行到那一步的标志位.
                # self.lineEdit_2.clear()
                # self.lineEdit_2.setText(str(float(lka_sign_timer_in)))

                lka_on_in = data1.split(str.encode(','))[2]  # LKA的总开关是否开启
                # self.lineEdit_3.clear()
                # self.lineEdit_3.setText(str(float(lka_on_in)))

                torque_in = data1.split(str.encode(','))[3]  # 方向盘的扭矩，驾驶员驾驶的扭矩
                # self.lineEdit_4.clear()
                # self.lineEdit_4.setText(str(float(torque_in)))

                angle_main_in = data1.split(str.encode(','))[4]  # 方向盘的转角
                # self.lineEdit_5.clear()
                # self.lineEdit_5.setText(str(float(angle_main_in)))

                c0_l_in = data1.split(str.encode(','))[5]  # 距离左边线的距离
                # self.lineEdit_6.clear()
                # self.lineEdit_6.setText(str(float(c0_l_in)))

                c0_r_in = data1.split(str.encode(','))[6]  # 距离右边线的距离
                # self.lineEdit_7.clear()
                # self.lineEdit_7.setText(str(float(c0_r_in)))

                azi_main_in = data1.split(str.encode(','))[7]  # 车身的方位角
                # self.lineEdit_8.clear()
                # self.lineEdit_8.setText(str(float(azi_main_in)))

                deviation_reminder = data1.split(str.encode(','))[8]  # 是否满足偏离条件，左偏为1，右偏为-1
                # self.lineEdit_9.clear()
                # self.lineEdit_9.setText(str(float(deviation_reminder)))

                touchline_sign = data1.split(str.encode(','))[9]  # 是否压线
                # self.lineEdit_10.clear()
                # self.lineEdit_10.setText(str(float(touchline_sign)))

                # print(touchline_sign)

                Tor_Value = data1.split(str.encode(','))[10]  # 发送的扭矩值
                # self.lineEdit_11.clear()
                # self.lineEdit_11.setText(str(float(Tor_Value)))

                c0_l_lctype = data1.split(str.encode(','))[11]  # 左车道线类型
                # self.lineEdit_12.clear()
                # self.lineEdit_12.setText(str(float(c0_l_lctype)))

                c0_r_rtype = data1.split(str.encode(','))[12]  # 右车道线类型
                # self.lineEdit_13.clear()
                # self.lineEdit_13.setText(str(float(c0_r_rtype)))

                c2_l = data1.split(str.encode(','))[13]  # zuo曲率
                # self.lineEdit_14.clear()
                # self.lineEdit_14.setText(str(float(c2_l)))

                c3_l = data1.split(str.encode(','))[14]  # 左曲率导数
                # self.lineEdit_15.clear()
                # self.lineEdit_15.setText(str(float(c3_l)))

                c2_r = data1.split(str.encode(','))[15]  # 右曲率
                # self.lineEdit_16.clear()
                # self.lineEdit_16.setText(str(float(c2_r)))

                c3_r = data1.split(str.encode(','))[16]  # 右曲率倒数
                # self.lineEdit_17.clear()
                # self.lineEdit_17.setText(str(float(c3_r)))

                degree_confidence_l = data1.split(str.encode(','))[17]  # 左置信度
                # self.lineEdit_18.clear()
                # self.lineEdit_18.setText(str(float(degree_confidence_l)))

                degree_confidence_r = data1.split(str.encode(','))[18]  # 右置信度
                # self.lineEdit_19.clear()
                # self.lineEdit_19.setText(str(float(degree_confidence_r)))

                zxd = data1.split(str.encode(','))[19]  # 右置信度
                # self.lineEdit_20.clear()
                # self.lineEdit_20.setText(str(float(zxd)))
                # print('error error1111111111111111111111')


    def closecom(self):
        global serial1
        try:
            serial1.close()
            self.lineEdit_21.clear()
            self.lineEdit_21.setText(str('串口已关闭 g3'))
        except:
            self.lineEdit_21.clear()
            self.lineEdit_21.setText(str('检测不到串口 error2'))

    # 实现pushButton_click()函数，textEdit是我们放上去的文本框的id
    def dynamicgraph(self):
        timer = QTimer(self)
        timer.timeout.connect(self.plotData)
        timer.start(20)

    def quitall(self):
        self.closecom()
        os._exit(0)

    def pausescreenshot(self):
        reply = QMessageBox.warning(self,
                                    "警告",
                                    "暂时没有该功能！",
                                    QMessageBox.Yes)
        # self.echo(reply)


if __name__ == '__main__':

    app = QtWidgets.QApplication(sys.argv)
    # splash = QSplashScreen(PyQt5.QtGui.QPixmap("kaiji.jpg"))
    # splash.show()
    # # 定义字体格式
    # font = PyQt5.QtGui.QFont()
    # font.setPointSize(20)
    # font.setBold(True)
    # font.setWeight(75)
    # splash.setFont(font)
    # splash.showMessage("正在加载。。。", Qt.AlignCenter, Qt.red, )
    # time.sleep(0.5)
    # splash.showMessage("启动。。。", Qt.AlignCenter, Qt.red)
    # time.sleep(0.5)
    # # 设置进程，启动加载页面时可以进行其他操作而不会卡死
    # app.processEvents()

    my_pyqt_form = MyPyQT_Form()

    workThread = WorkThread()
    workThread.start()
    my_pyqt_form.show()

    # # 结束启动页
    # splash.finish(my_pyqt_form)

    sys.exit(app.exec_())