RealTimePlot.py

import matplotlib.pyplot as plt
from typing import Any


# @brief RealTimePlot: Plot the real time ACC telemetry data
class RealTimePlot:

    # @brief __init__: Initialize parameters and variables
    def __init__(self) -> None:

        mem_x: list[float] = []
        mem_y: list[float] = []
        mem_z: list[float] = []

        # Initialize the plot
        plt.style.use("dark_background")
        plt.rcParams["font.family"] = "Times New Roman"
        plt.rcParams["font.weight"] = "bold"

        fig, ax = plt.subplots(figsize=(6, 6))

        ax.set_title("Real-Time Car Coordinate", weight="bold", size=15)
        ax.set_xlabel("x (m)")
        ax.set_ylabel("y (m)")
        ax.set_xlim(-1500, 1500)
        ax.set_ylim(-1500, 1500)
        ax.axis("equal")

        (line,) = ax.plot(mem_z, mem_x, label="Racing Line")
        line_color = line.get_color()
        (marker,) = ax.plot(
            mem_z, mem_x, ".", color=line_color, label="Current Position"
        )

        ax.legend()

        self.mem_x = mem_x
        self.mem_y = mem_y
        self.mem_z = mem_z
        self.fig = fig
        self.ax = ax
        self.line = line
        self.line_color = line_color
        self.marker = marker

    # @brief plot: Plot real-time car coordinate
    # @para: Current_ACCData: [in] Current ACC Telemetry data dictionary
    def plot(self, Current_ACCData: dict[str, Any]):

        mem_x = self.mem_x
        mem_y = self.mem_y
        mem_z = self.mem_z
        # fig = self.fig
        # ax = self.ax
        line = self.line
        # line_color = self.line_color
        marker = self.marker

        Current_carCoordinates: list[float] = Current_ACCData["carCoordinates"]
        # Current_iCurrentTime: int = Current_ACCData["iCurrentTime"]
        Current_mycarCoordinates: list[float] = Current_carCoordinates[:3]

        # print(Current_mycarCoordinates)
        x: float = Current_mycarCoordinates[0]  # x
        y: float = Current_mycarCoordinates[1]  # y
        z: float = Current_mycarCoordinates[2]  # z
        # t: float = Current_iCurrentTime * 0.001  # ms >> s

        mem_x.append(x)
        mem_y.append(y)
        mem_z.append(-z)

        line.set_data(mem_x, mem_z)
        marker.set_data(mem_x[-1], mem_z[-1])

        plt.draw()
        plt.pause(0.01)