串口数据读取和动态显示Tkinter+matplotlib+pyqtgraph（详细教程）
注意 ：本函数已将pyqtgraph动态绘图隐藏，在main函数中去除隐藏便可以显示，但是没有嵌入到tkinter
运行环境：
win10，python3.5.2
效果图：
代码：
# import os
# import sys
# import serial
# from tkinter import *
from tkinter.simpledialog import *
import tkinter.messagebox
import serial.tools.list_ports
import matplotlib.pyplot as plt
import matplotlib.animation as animation
import numpy as np
import datetime
#import time
import threading
# import sys
# import array
# import pyqtgraph as pg
import os
# 创建画布需要的库
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
# 创建工具栏需要的库
# from matplotlib.backends.backend_tkagg import NavigationToolbar2Tk
import shutiljishu1 = 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
i = 0
gg = 0
zxd = 0
data = []
shuju = []
shuju2 = []
shuju3 = []
shuju4 = []
shuju5 = []
historyLength = 0
historyLength2 = 0def recv(): # 从串口获取数据# start1 = time.time()global exit_sumtry: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 = 1exit_sum = exit_sum + 1elif data_str.count(',') == 19:jishu1 = 0exit_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'return data3#主要数据处理
def lka_all():# while 1:global jishu1global 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, zxdglobal exit_sumtry:data1 = 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'if exit_sum > 1000: #接收不到数据，循环10次之后退出exit_all()if data1 != b'':lka_cs_in = data1.split(str.encode(','))[0] # 车速信息text_cs.delete('1.0', 'end')text_cs.insert(END, lka_cs_in)lka_sign_timer_in = data1.split(str.encode(','))[1] # 程序执行到那一步的标志位.text_sign_timer.delete('1.0', 'end')text_sign_timer.insert(END, lka_sign_timer_in)lka_on_in = data1.split(str.encode(','))[2] # LKA的总开关是否开启text_lka_on_in.delete('1.0', 'end')text_lka_on_in.insert(END, lka_on_in)torque_in = data1.split(str.encode(','))[3] # 方向盘的扭矩，驾驶员驾驶的扭矩text_torque_in.delete('1.0', 'end')text_torque_in.insert(END, torque_in)angle_main_in = data1.split(str.encode(','))[4] # 方向盘的转角text_angle_main_in.delete('1.0', 'end')text_angle_main_in.insert(END, angle_main_in)c0_l_in = data1.split(str.encode(','))[5] # 距离左边线的距离text_c0_l_in.delete('1.0', 'end')text_c0_l_in.insert(END, c0_l_in)c0_r_in = data1.split(str.encode(','))[6] # 距离右边线的距离text_c0_r_in.delete('1.0', 'end')text_c0_r_in.insert(END, c0_r_in)azi_main_in = data1.split(str.encode(','))[7] # 车身的方位角text_azi_main_in.delete('1.0', 'end')text_azi_main_in.insert(END, 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-1text_deviation_reminder.delete('1.0', 'end')text_deviation_reminder.insert(END, deviation_reminder)# print(deviation_reminder)# print(type(deviation_reminder))touchline_sign = data1.split(str.encode(','))[9] # 是否压线text_touchline_sign.delete('1.0', 'end')text_touchline_sign.insert(END, touchline_sign)# print(touchline_sign)Tor_Value = data1.split(str.encode(','))[10] # 发送的扭矩值text_Tor_Value.delete('1.0', 'end')text_Tor_Value.insert(END, Tor_Value)c0_l_lctype = data1.split(str.encode(','))[11] # 左车道线类型text_c0_lctype.delete('1.0', 'end')text_c0_lctype.insert(END, c0_l_lctype)c0_r_rtype = data1.split(str.encode(','))[12] # 右车道线类型text_c0_rtype.delete('1.0', 'end')text_c0_rtype.insert(END, c0_r_rtype)c2_l = data1.split(str.encode(','))[13] # zuo曲率text_c2_l.delete('1.0', 'end')text_c2_l.insert(END, c2_l)c3_l = data1.split(str.encode(','))[14] # 左曲率导数text_c3_l.delete('1.0', 'end')text_c3_l.insert(END, c3_l)c2_r = data1.split(str.encode(','))[15] # 右曲率text_c2_r.delete('1.0', 'end')text_c2_r.insert(END, c2_r)c3_r = data1.split(str.encode(','))[16] # 右曲率倒数text_c3_r.delete('1.0', 'end')text_c3_r.insert(END, c3_r)degree_confidence_l = data1.split(str.encode(','))[17] # 左置信度text_degree_confidence_l.delete('1.0', 'end')text_degree_confidence_l.insert(END, degree_confidence_l)degree_confidence_r = data1.split(str.encode(','))[18] # 右置信度text_degree_confidence_r.delete('1.0', 'end')text_degree_confidence_r.insert(END, degree_confidence_r)zxd = data1.split(str.encode(','))[19] # 右置信度text_zxd.delete('1.0', 'end')text_zxd.insert(END, zxd)if int(lka_cs_in) >= 30:if int(degree_confidence_r) < 2 or int(degree_confidence_l) < 2:text_alert.delete('1.0', 'end')text_alert.insert(END, '置信度较低\n不能识别车道线')elif deviation_reminder == b'1.0' and jishu1 == 0:text_alert.delete('1.0', 'end')text_alert.insert(END, '左偏离')if touchline_sign == b'1':text_alert.delete('1.0', 'end')text_alert.insert(END, '左偏离+压线\n正在退出纠正...')elif deviation_reminder == b'-1.0' and jishu1 == 0:text_alert.delete('1.0', 'end')text_alert.insert(END, '右偏离')if touchline_sign == b'1':text_alert.delete('1.0', 'end')text_alert.insert(END, '右偏离+压线\n正在退出纠正...')elif touchline_sign == b'1':text_alert.delete('1.0', 'end')text_alert.insert(END, '压线\n正在退出纠正...')elif jishu1 == 1:text_alert.delete('1.0', 'end')text_alert.insert(END, '数据错误')elif int(zxd == 1):text_alert.delete('1.0', 'end')text_alert.insert(END, '已开启转向灯\nLKA未激活')else:text_alert.delete('1.0', 'end')elif int(lka_cs_in) < 30:text_alert.delete('1.0', 'end')text_alert.insert(END, '车速<30Km/h\nLKA未激活')# try:# serial1.close()# except:# print("close_error")def update(goo):# start1 = time.clock()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, zxdglobal dis, dis2, dis3, dis4, dis5, dis6, dis7, dis8, dis9, dis10, line, line1, line2, line3, line4global aa, bb, cc, dd, ee# 读入模拟try:aa = c0_l_inbb = c0_r_incc = angle_main_indd = azi_main_inexcept:aa = 0bb = 0cc = 0dd = 0try:ee = Tor_Valueexcept:ee = 0# 左车道线距离dis[0:-1] = dis2[1:]dis[-1] = aadis2 = dis# 右车道线距离dis3[0:-1] = dis4[1:]dis3[-1] = bbdis4 = dis3# 方向盘转角dis5[0:-1] = dis6[1:]dis5[-1] = ccdis6 = dis5# 方位角dis7[0:-1] = dis8[1:]dis7[-1] = dddis8 = dis7# 发送扭矩dis9[0:-1] = dis10[1:]dis9[-1] = eedis10 = dis9line.set_ydata(dis)line1.set_ydata(dis3)line2.set_ydata(dis5)line3.set_ydata(dis7)line4.set_ydata(dis9)# end1 = time.clock()# print(end1 - start1)def display():# start1 = time.clock()global dis, dis2, dis3, dis4, dis5, dis6, dis7, dis8, dis9, dis10, line, line1, line2, line3, line4fig = plt.figure(figsize=(10,8))plt.subplots_adjust(left=0.08, right=0.99, top=0.99, bottom=0.05)ax = fig.add_subplot(2, 2, 1, ylim=(-3.5, 3.5))plt.grid()# ax.set_ylabel("distance")line, = ax.plot(dis)line1, = ax.plot(dis3)plt.legend('LRdistance')# 设置坐标轴刻度# my_y_ticks1 = np.arange(-4, 4, 1)# plt.yticks(my_y_ticks1)ax2 = fig.add_subplot(2, 2, 2, ylim=(-90, 90))plt.grid()# ax2.set_ylabel("angle")line2, = ax2.plot(dis5)plt.legend('θangle')# 设置坐标轴刻度# my_y_ticks2 = np.arange(-100, 100, 15)# plt.yticks(my_y_ticks2)ax3 = fig.add_subplot(2, 2, 3, ylim=(-0.05, 0.05))plt.grid()# ax3.set_ylabel("azi")line3, = ax3.plot(dis7)plt.legend('θazi')# # 设置坐标轴刻度# my_y_ticks3 = np.arange(-0.2, 0.2, 0.05)# plt.yticks(my_y_ticks3)ax4 = fig.add_subplot(2, 2, 4, ylim=(-3, 3))plt.grid()# ax4.set_ylabel("T_send")line4, = ax4.plot(dis9)plt.legend('T_send')# # 设置坐标轴刻度# my_y_ticks4 = np.arange(-3, 3, 0.5)# plt.yticks(my_y_ticks4)# 创建画布控件canvas = FigureCanvasTkAgg(fig, master=frame5)canvas.draw()# 显示画布控件canvas.get_tk_widget().pack()ani = animation.FuncAnimation(fig, update, frames=None, interval=40) # default=200# end1 = time.clock()# print(end1 - start1)plt.show()def pause_ani():tkinter.messagebox.showinfo('提示', '暂时没有该功能')def screen_shot():# #查询是否重复# global name_sum# ss = askstring('Input','Input filename')# shotname = ss + str(name_sum) + '.png'# if os.path.exists(shotname):# tkinter.messagebox.showinfo('提示', '命名重复,再来一次吧')# else:# plt.savefig(shotname)# name_sum = name_sum + 1name_dir = str(datetime.datetime.now()).split(' ')[0]shotname_tmp = str(str(datetime.datetime.now()) + '.png')shotname = shotname_tmp.replace(':','-')plt.savefig(shotname)if os.path.exists('数据曲线截图'):passelse:os.mkdir('数据曲线截图')try:if os.path.exists(shotname):shutil.move(shotname, '数据曲线截图')else:tkinter.messagebox.showinfo('提示', '图片不存在')except:tkinter.messagebox.showinfo('提示', '未知错误')# 重启程序
def restart_program():global data1, serial1, com_0, com_koutry:serial1.close()except:pass# tkinter.messagebox.showinfo('提示', '暂时没有该功能')port_list22 = list(serial.tools.list_ports.comports())if len(port_list22) == 0:passelse:com_0 = str(port_list22[1])com_kou = com_0.split(' ')[1]try:serial1 = serial.Serial(com_kou, 115200, timeout=0.15) # com_koudata1 = recv() # 将数据进行解析lb1 = Label(frame4, text='串口已连接', fg='blue', font=('宋体', 15))lb1.place(relx=0.1, rely=0.02, relwidth=0.8, relheight=0.05)except:data1 = b'000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000,000\n'if serial1.isOpen():lb1 = Label(frame4, text='串口已连接', fg='blue', font=('宋体', 15))lb1.place(relx=0.1, rely=0.02, relwidth=0.8, relheight=0.05)else:lb1 = Label(frame4, text='串口未连接', fg='blue', font=('宋体', 15))lb1.place(relx=0.1, rely=0.02, relwidth=0.8, relheight=0.05)# 退出命令
def exit_all():# root.quit()# root.destroy()# os._exit(0)# sys.exit(app.exec_())# # sys.exit(1)os._exit(0)def close_com():global serial1serial1.close()print('串口关闭了')def plotData():global ggglobal lka_cs_in, c0_l_in, c0_r_in, angle_main_in, azi_main_in, Tor_Value, deviation_reminderglobal idx # 内部作用域想改变外部域变量global historyLengthglobal historyLength2gg = gg + 0.01try:tmp = float(c0_l_in)tmp2 = float(c0_r_in)tmp3 = float(angle_main_in)tmp4 = float(azi_main_in)except:tmp = 0tmp2 = 0tmp3 = 0tmp4 = 0try:tmp5 = float(Tor_Value)except:tmp5 = 0try:tmp6 = float(deviation_reminder)except:tmp6 = 0if 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] = tmpshuju[:-1] = shuju[1:] # 前移shuju[-1] = tmp2shuju2[:-1] = shuju2[1:] # 前移shuju2[-1] = tmp3shuju3[:-1] = shuju3[1:] # 前移shuju3[-1] = tmp4shuju4[:-1] = shuju4[1:] # 前移shuju4[-1] = tmp5shuju5[:-1] = shuju5[1:] # 前移shuju5[-1] = tmp6curve1.setData(data)curve2.setData(shuju)curve3.setData(shuju2)curve4.setData(shuju3)curve5.setData(shuju4)curve6.setData(shuju5)idx += 1if __name__ == '__main__':root = Tk()root.geometry('1200x500')root.resizable(False, False)root.title('毕业设计 LKA辅助驾驶数据读取')frame1 = Frame(root, relief=SUNKEN, bd=1)frame1.place(relx=0.01, rely=0.01, relwidth=0.15, relheight=0.55)frame2 = Frame(root, relief=SUNKEN, bd=1)frame2.place(relx=0.01, rely=0.57, relwidth=0.15, relheight=0.4)frame3 = Frame(root, relief=SUNKEN, bd=1)frame3.place(relx=0.17, rely=0.01, relwidth=0.15, relheight=0.95)frame4 = Frame(root, relief=SUNKEN, bd=1)frame4.place(relx=0.33, rely=0.01, relwidth=0.15, relheight=0.95)frame5 = Frame(root, relief=SUNKEN, bd=1)frame5.place(relx=0.49, rely=0.01, relwidth=0.505, relheight=0.99)# Tk控件的名称text_cs = Text(frame1, fg='red', font=("宋体", 10))lb_cs = Label(frame1, text='车速:', fg='blue', font=("宋体", 10))text_torque_in = Text(frame1, fg='red', font=("宋体", 10))lb_torque = Label(frame1, text='Torque:', fg='blue', font=("宋体", 10))text_angle_main_in = Text(frame1, fg='red', font=("宋体", 10))lb_angle_main = Label(frame1, text='angle_main:', fg='blue', font=("宋体", 10))text_c0_l_in = Text(frame1, fg='red', font=("宋体", 10))lb_c0_l = Label(frame1, text='C0_L:', fg='blue', font=("宋体", 10))text_c0_r_in = Text(frame1, fg='red', font=("宋体", 10))lb_c0_r = Label(frame1, text='C0_R:', fg='blue', font=("宋体", 10))text_azi_main_in = Text(frame1, fg='red', font=("宋体", 10))lb_azi_main = Label(frame1, text='azi_main:', fg='blue', font=("宋体", 10))text_deviation_reminder = Text(frame2, fg='red', font=("宋体", 10))lb_deviation_reminder = Label(frame2, text='deviation:', fg='blue', font=("宋体", 10))text_sign_timer = Text(frame2, fg='red', font=("宋体", 10))lb_sign = Label(frame2, text='sign_timer:', fg='blue', font=("宋体", 10))text_touchline_sign = Text(frame2, fg='red', font=("宋体", 10))lb_touchline_sign = Label(frame2, text='touchline:', fg='blue', font=("宋体", 10))text_Tor_Value = Text(frame2, fg='red', font=("宋体", 10))lb_text_Tor_Value = Label(frame2, text='Tor_Value:', fg='blue', font=("宋体", 10))text_lka_on_in = Text(frame3, fg='red', font=("宋体", 10))lb_lka_on = Label(frame3, text='LKA_ON:', fg='blue', font=("宋体", 10))text_degree_confidence_l = Text(frame3, fg='red', font=("宋体", 10))lb_text_degree_confidence_l = Label(frame3, text='置信度_L:', fg='blue', font=("宋体", 10))text_degree_confidence_r = Text(frame3, fg='red', font=("宋体", 10))lb_text_degree_confidence_r = Label(frame3, text='置信度_R:', fg='blue', font=("宋体", 10))text_c0_lctype = Text(frame3, fg='red', font=("宋体", 10))lb_text_c0_lctype = Label(frame3, text='LineTypeL:', fg='blue', font=("宋体", 10))text_c0_rtype = Text(frame3, fg='red', font=("宋体", 10))lb_text_c0_rtype = Label(frame3, text='LineTypeR:', fg='blue', font=("宋体", 10))text_c2_l = Text(frame3, fg='red', font=("宋体", 10))lb_text_c2_l = Label(frame3, text='曲率L:', fg='blue', font=("宋体", 10))text_c3_l = Text(frame3, fg='red', font=("宋体", 10))lb_text_c3_l = Label(frame3, text='曲率导数L:', fg='blue', font=("宋体", 10))text_c2_r = Text(frame3, fg='red', font=("宋体", 10))lb_text_c2_r = Label(frame3, text='曲率R:', fg='blue', font=("宋体", 10))text_c3_r = Text(frame3, fg='red', font=("宋体", 10))lb_text_c3_r = Label(frame3, text='曲率导数R:', fg='blue', font=("宋体", 10))text_zxd = Text(frame3, fg='red', font=("宋体", 10))lb_text_zxd = Label(frame3, text='转向灯:', fg='blue', font=("宋体", 10))text_alert = Text(frame4, fg='red', font=("宋体", 20))lb_text_alert = Label(frame4, text='警告:', fg='red', font=("宋体", 20))# 界面显示相对于frame1的位置text_cs.place(relx=0.5, rely=0.02, relwidth=0.35, relheight=0.06)lb_cs.place(relx=0.1, rely=0.02, relwidth=0.3, relheight=0.06)text_torque_in.place(relx=0.5, rely=0.18, relwidth=0.35, relheight=0.06)lb_torque.place(relx=0.1, rely=0.18, relwidth=0.3, relheight=0.06)text_angle_main_in.place(relx=0.5, rely=0.36, relwidth=0.35, relheight=0.06)lb_angle_main.place(relx=0.0, rely=0.36, relwidth=0.4, relheight=0.06)text_c0_l_in.place(relx=0.5, rely=0.54, relwidth=0.35, relheight=0.06)lb_c0_l.place(relx=0.1, rely=0.54, relwidth=0.3, relheight=0.06)text_c0_r_in.place(relx=0.5, rely=0.71, relwidth=0.35, relheight=0.06)lb_c0_r.place(relx=0.1, rely=0.71, relwidth=0.3, relheight=0.06)text_azi_main_in.place(relx=0.5, rely=0.88, relwidth=0.35, relheight=0.06)lb_azi_main.place(relx=0.0, rely=0.88, relwidth=0.4, relheight=0.06)# 界面显示相对于frame2的位置text_deviation_reminder.place(relx=0.5, rely=0.08, relwidth=0.35, relheight=0.09)lb_deviation_reminder.place(relx=0.01, rely=0.08, relwidth=0.4, relheight=0.09)text_sign_timer.place(relx=0.5, rely=0.35, relwidth=0.35, relheight=0.09)lb_sign.place(relx=0.01, rely=0.35, relwidth=0.4, relheight=0.09)text_Tor_Value.place(relx=0.5, rely=0.62, relwidth=0.35, relheight=0.09)lb_text_Tor_Value.place(relx=0.01, rely=0.62, relwidth=0.4, relheight=0.09)text_touchline_sign.place(relx=0.5, rely=0.89, relwidth=0.35, relheight=0.09)lb_touchline_sign.place(relx=0.01, rely=0.89, relwidth=0.4, relheight=0.09)# 界面显示相对于frame3的位置text_lka_on_in.place(relx=0.5, rely=0.02, relwidth=0.35, relheight=0.04)lb_lka_on.place(relx=0.01, rely=0.02, relwidth=0.4, relheight=0.04)text_degree_confidence_l.place(relx=0.5, rely=0.1, relwidth=0.35, relheight=0.04)lb_text_degree_confidence_l.place(relx=0.01, rely=0.1, relwidth=0.4, relheight=0.04)text_degree_confidence_r.place(relx=0.5, rely=0.2, relwidth=0.35, relheight=0.04)lb_text_degree_confidence_r.place(relx=0.01, rely=0.2, relwidth=0.4, relheight=0.04)text_c0_lctype.place(relx=0.5, rely=0.3, relwidth=0.35, relheight=0.04)lb_text_c0_lctype.place(relx=0.01, rely=0.3, relwidth=0.4, relheight=0.04)text_c0_rtype.place(relx=0.5, rely=0.4, relwidth=0.35, relheight=0.04)lb_text_c0_rtype.place(relx=0.01, rely=0.4, relwidth=0.4, relheight=0.04)text_c2_l.place(relx=0.5, rely=0.5, relwidth=0.35, relheight=0.04)lb_text_c2_l.place(relx=0.01, rely=0.5, relwidth=0.4, relheight=0.04)text_c3_l.place(relx=0.5, rely=0.6, relwidth=0.35, relheight=0.04)lb_text_c3_l.place(relx=0.01, rely=0.6, relwidth=0.4, relheight=0.04)text_c2_r.place(relx=0.5, rely=0.7, relwidth=0.35, relheight=0.04)lb_text_c2_r.place(relx=0.01, rely=0.7, relwidth=0.4, relheight=0.04)text_c3_r.place(relx=0.5, rely=0.8, relwidth=0.35, relheight=0.04)lb_text_c3_r.place(relx=0.01, rely=0.8, relwidth=0.4, relheight=0.04)text_zxd.place(relx=0.5, rely=0.9, relwidth=0.35, relheight=0.04)lb_text_zxd.place(relx=0.01, rely=0.9, relwidth=0.4, relheight=0.04)# 界面显示相对于root的位置text_alert.place(relx=0.01, rely=0.7, relwidth=0.98, relheight=0.35)lb_text_alert.place(relx=0.13, rely=0.62, relwidth=0.7, relheight=0.05)port_list = list(serial.tools.list_ports.comports())if len(port_list) == 0:print('找不到串口')else:com_0 = str(port_list[0])com_kou = com_0.split(' ')[0]try:serial1 = serial.Serial(com_kou, 115200, timeout=0.15) # com_koudata1 = recv() # 将数据进行解析lb1 = Label(frame4, text='串口已连接', fg='blue', font=('宋体', 15))lb1.place(relx=0.1, rely=0.02, relwidth=0.8, relheight=0.05)except:data1 = b'555,555,555,555,555,555,555,555,555,555,555,555,555,555,555,555,555,555,555,555\n'lb1 = Label(frame4, text='串口未连接', fg='red', font=('宋体', 15))lb1.place(relx=0.1, rely=0.02, relwidth=0.8, relheight=0.05)btn2 = Button(frame4, text='动态曲线图', command=display)btn2.place(relx=0.1, rely=0.1, relwidth=0.8, relheight=0.08)btn3 = Button(frame4, text='截图', command=screen_shot)btn3.place(relx=0.1, rely=0.18, relwidth=0.8, relheight=0.08)btn4 = Button(frame4, text="关闭串口", command=close_com)btn4.place(relx=0.1, rely=0.26, relwidth=0.8, relheight=0.08)btn5 = Button(frame4, text="全部退出", command=exit_all)btn5.place(relx=0.1, rely=0.34, relwidth=0.8, relheight=0.08)btn6 = Button(frame4, text="重启", command=restart_program)btn6.place(relx=0.1, rely=0.42, relwidth=0.8, relheight=0.08)btn7 = Button(frame4, text="暂停", command=pause_ani)btn7.place(relx=0.1, rely=0.50, relwidth=0.8, relheight=0.08)#使用pyqt显示曲线图# app = pg.mkQApp() # 建立app# win = pg.GraphicsWindow() # 建立窗口# win.setWindowTitle(u'实时监测卡车参数')# win.resize(800, 400) # 小窗口大小## 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# historyLength = 100 # 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# curve1 = p.plot(pen='w') # 绘制一个图形# 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.setRange(xRange=[0, historyLength], yRange=[-600, 600], padding=0)# curve3 = angle_steer.plot(pen='w')# win.nextRow()# azi = win.addPlot(left='方位角', bottom='time', title='方位角')# azi.setRange(xRange=[0, historyLength], yRange=[-0.2, 0.2], padding=0)# curve4 = azi.plot(pen='w')# T_send = win.addPlot(left='发送扭矩', bottom='time', title='发送扭矩')# T_send.setRange(xRange=[0, historyLength], yRange=[-2, 2], padding=0)# curve5 = T_send.plot(pen='r')# curve6 = T_send.plot(pen='g')## idx = 0# timer = pg.QtCore.QTimer()# timer.timeout.connect(plotData) # 定时调用plotData函数# timer.start(20) # 多少ms调用一次thread_1 = threading.Thread(target=lka_all)thread_1.start() # 开启T1#使用pyqt显示曲线图# thread_2 = threading.Thread(target=plotData)# thread_2.start() # 开启T2thread_3 = threading.Thread(target=recv)thread_3.start() # 开启T1root.mainloop()# app.exec_()