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#!/usr/bin/env python

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# -*- coding: utf-8 -*-

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#This file is part of PLCOpenEditor, a library implementing an IEC 61131-3 editor

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#based on the plcopen standard. 

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#

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#Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD

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#

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#See COPYING file for copyrights details.

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#

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#This library is free software; you can redistribute it and/or

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#modify it under the terms of the GNU General Public

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#License as published by the Free Software Foundation; either

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#version 2.1 of the License, or (at your option) any later version.

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#

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#This library is distributed in the hope that it will be useful,

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#but WITHOUT ANY WARRANTY; without even the implied warranty of

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#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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#General Public License for more details.

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#

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#You should have received a copy of the GNU General Public

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#License along with this library; if not, write to the Free Software

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#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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import numpy

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import math

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import wx

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import wx.lib.plot as plot

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import wx.lib.buttons

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from graphics.GraphicCommons import DebugViewer, MODE_SELECTION, MODE_MOTION

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from EditorPanel import EditorPanel

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from util.BitmapLibrary import GetBitmap

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colours = ['blue', 'red', 'green', 'yellow', 'orange', 'purple', 'brown', 'cyan',

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           'pink', 'grey']

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markers = ['circle', 'dot', 'square', 'triangle', 'triangle_down', 'cross', 'plus', 'circle']

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#-------------------------------------------------------------------------------

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#                       Debug Variable Graphic Viewer class

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#-------------------------------------------------------------------------------

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SECOND = 1000000000

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MINUTE = 60 * SECOND

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HOUR = 60 * MINUTE

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ZOOM_VALUES = map(lambda x:("x %.1f" % x, x), [math.sqrt(2) ** i for i in xrange(8)])

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RANGE_VALUES = map(lambda x: (str(x), x), [25 * 2 ** i for i in xrange(6)])

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TIME_RANGE_VALUES = [("%ds" % i, i * SECOND) for i in (1, 2, 5, 10, 20, 30)] + \

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                    [("%dm" % i, i * MINUTE) for i in (1, 2, 5, 10, 20, 30)] + \

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                    [("%dh" % i, i * HOUR) for i in (1, 2, 3, 6, 12, 24)]

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class GraphicViewer(EditorPanel, DebugViewer):

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    def _init_Editor(self, prnt):

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        self.Editor = wx.Panel(prnt)

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        main_sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=0)

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        main_sizer.AddGrowableCol(0)

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        main_sizer.AddGrowableRow(0)

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        self.Canvas = plot.PlotCanvas(self.Editor, name='Canvas')

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        def _axisInterval(spec, lower, upper):

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            if spec == 'border':

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                if lower == upper:

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                    return lower - 0.5, upper + 0.5

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                else:

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                    border = (upper - lower) * 0.05

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                    return lower - border, upper + border

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            else:

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                return plot.PlotCanvas._axisInterval(self.Canvas, spec, lower, upper)

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        self.Canvas._axisInterval = _axisInterval

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        self.Canvas.SetYSpec('border')

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        self.Canvas.canvas.Bind(wx.EVT_LEFT_DOWN, self.OnCanvasLeftDown)

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        self.Canvas.canvas.Bind(wx.EVT_LEFT_UP, self.OnCanvasLeftUp)

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        self.Canvas.canvas.Bind(wx.EVT_MIDDLE_DOWN, self.OnCanvasMiddleDown)

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        self.Canvas.canvas.Bind(wx.EVT_MIDDLE_UP, self.OnCanvasMiddleUp)

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        self.Canvas.canvas.Bind(wx.EVT_MOTION, self.OnCanvasMotion)

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        self.Canvas.canvas.Bind(wx.EVT_SIZE, self.OnCanvasResize)

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        main_sizer.AddWindow(self.Canvas, 0, border=0, flag=wx.GROW)

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        range_sizer = wx.FlexGridSizer(cols=10, hgap=5, rows=1, vgap=0)

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        range_sizer.AddGrowableCol(5)

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        range_sizer.AddGrowableRow(0)

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        main_sizer.AddSizer(range_sizer, 0, border=5, flag=wx.GROW|wx.ALL)

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        range_label = wx.StaticText(self.Editor, label=_('Range:'))

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        range_sizer.AddWindow(range_label, 0, border=0, flag=wx.ALIGN_CENTER_VERTICAL)

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        self.CanvasRange = wx.ComboBox(self.Editor, 

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              size=wx.Size(100, 28), style=wx.CB_READONLY)

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        self.Bind(wx.EVT_COMBOBOX, self.OnRangeChanged, self.CanvasRange)

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        range_sizer.AddWindow(self.CanvasRange, 0, border=0, flag=wx.ALIGN_CENTER_VERTICAL)

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        zoom_label = wx.StaticText(self.Editor, label=_('Zoom:'))

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        range_sizer.AddWindow(zoom_label, 0, border=0, flag=wx.ALIGN_CENTER_VERTICAL)

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        self.CanvasZoom = wx.ComboBox(self.Editor, 

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              size=wx.Size(70, 28), style=wx.CB_READONLY)

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        self.Bind(wx.EVT_COMBOBOX, self.OnZoomChanged, self.CanvasZoom)

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        range_sizer.AddWindow(self.CanvasZoom, 0, border=0, flag=wx.ALIGN_CENTER_VERTICAL)

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        position_label = wx.StaticText(self.Editor, label=_('Position:'))

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        range_sizer.AddWindow(position_label, 0, border=0, flag=wx.ALIGN_CENTER_VERTICAL)

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        self.CanvasPosition = wx.ScrollBar(self.Editor, 

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              size=wx.Size(0, 16), style=wx.SB_HORIZONTAL)

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        self.CanvasPosition.SetScrollbar(0, 10, 100, 10)

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        self.CanvasPosition.Bind(wx.EVT_SCROLL_THUMBTRACK, 

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              self.OnPositionChanging, self.CanvasPosition)

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        self.CanvasPosition.Bind(wx.EVT_SCROLL_LINEUP, 

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              self.OnPositionChanging, self.CanvasPosition)

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        self.CanvasPosition.Bind(wx.EVT_SCROLL_LINEDOWN, 

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              self.OnPositionChanging, self.CanvasPosition)

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        self.CanvasPosition.Bind(wx.EVT_SCROLL_PAGEUP, 

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              self.OnPositionChanging, self.CanvasPosition)

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        self.CanvasPosition.Bind(wx.EVT_SCROLL_PAGEDOWN, 

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              self.OnPositionChanging, self.CanvasPosition)

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        range_sizer.AddWindow(self.CanvasPosition, 0, border=5, flag=wx.GROW|wx.ALL)

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        self.ResetButton = wx.lib.buttons.GenBitmapButton(self.Editor, 

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              bitmap=GetBitmap("reset"), size=wx.Size(28, 28), style=wx.NO_BORDER)

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        self.ResetButton.SetToolTipString(_("Clear the graph values"))

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        self.Bind(wx.EVT_BUTTON, self.OnResetButton, self.ResetButton)

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        range_sizer.AddWindow(self.ResetButton, 0, border=0, flag=0)

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        self.CurrentButton = wx.lib.buttons.GenBitmapButton(self.Editor, 

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              bitmap=GetBitmap("current"), size=wx.Size(28, 28), style=wx.NO_BORDER)

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        self.CurrentButton.SetToolTipString(_("Go to current value"))

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        self.Bind(wx.EVT_BUTTON, self.OnCurrentButton, self.CurrentButton)

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        range_sizer.AddWindow(self.CurrentButton, 0, border=0, flag=0)

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        self.ResetZoomOffsetButton = wx.lib.buttons.GenBitmapButton(self.Editor, 

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              bitmap=GetBitmap("fit"), size=wx.Size(28, 28), style=wx.NO_BORDER)

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        self.ResetZoomOffsetButton.SetToolTipString(_("Reset zoom and offset"))

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        self.Bind(wx.EVT_BUTTON, self.OnResetZoomOffsetButton, 

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              self.ResetZoomOffsetButton)

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        range_sizer.AddWindow(self.ResetZoomOffsetButton, 0, border=0, flag=0)

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        self.ExportGraphButton = wx.lib.buttons.GenBitmapButton(self.Editor, 

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              bitmap=GetBitmap("export_graph"), size=wx.Size(28, 28), style=wx.NO_BORDER)

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        self.ExportGraphButton.SetToolTipString(_("Export graph values to clipboard"))

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        self.Bind(wx.EVT_BUTTON, self.OnExportGraphButtonClick, 

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                self.ExportGraphButton)

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        range_sizer.AddWindow(self.ExportGraphButton, 0, border=0, flag=0)

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        self.Editor.SetSizer(main_sizer)

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        self.Editor.Bind(wx.EVT_MOUSEWHEEL, self.OnCanvasMouseWheel)

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    def __init__(self, parent, window, producer, instancepath = ""):

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        EditorPanel.__init__(self, parent, "", window, None)

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        DebugViewer.__init__(self, producer, True, False)

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        self.InstancePath = instancepath

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        self.RangeValues = None

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        self.CursorIdx = None

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        self.LastCursor = None

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        self.CurrentMousePos = None

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        self.CurrentMotionValue = None

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        self.Dragging = False

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        # Initialize Viewer mode to Selection mode

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        self.Mode = MODE_SELECTION

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        self.Data = numpy.array([]).reshape(0, 2)

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        self.StartTick = 0

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        self.StartIdx = 0

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        self.EndIdx = 0

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        self.MinValue = None

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        self.MaxValue = None

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        self.YCenter = 0

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        self.CurrentZoom = 1.0

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        self.Fixed = False

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        self.Ticktime = self.DataProducer.GetTicktime()

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        self.RefreshCanvasRange()

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        for zoom_txt, zoom in ZOOM_VALUES:

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            self.CanvasZoom.Append(zoom_txt)

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        self.CanvasZoom.SetSelection(0)

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        self.AddDataConsumer(self.InstancePath.upper(), self)

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   186

    def __del__(self):

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        DebugViewer.__del__(self)

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        self.RemoveDataConsumer(self)

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    def GetTitle(self):

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        if len(self.InstancePath) > 15:

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            return "..." + self.InstancePath[-12:]

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        return self.InstancePath

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    # Changes Viewer mode

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    def SetMode(self, mode):

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        if self.Mode != mode or mode == MODE_SELECTION:    

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            if self.Mode == MODE_MOTION:

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                wx.CallAfter(self.Canvas.canvas.SetCursor, wx.NullCursor)

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            self.Mode = mode

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        if self.Mode == MODE_MOTION:

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            wx.CallAfter(self.Canvas.canvas.SetCursor, wx.StockCursor(wx.CURSOR_HAND))

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    def ResetView(self, register=False):

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        self.Data = numpy.array([]).reshape(0, 2)

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        self.StartTick = 0

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        self.StartIdx = 0

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        self.EndIdx = 0

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        self.MinValue = None

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        self.MaxValue = None

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        self.CursorIdx = None

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        self.Fixed = False

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        self.Ticktime = self.DataProducer.GetTicktime()

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        if register:

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            self.AddDataConsumer(self.InstancePath.upper(), self)

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        self.ResetLastCursor()

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        self.RefreshCanvasRange()

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        self.RefreshView()

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    def RefreshNewData(self, *args, **kwargs):

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        self.RefreshView(*args, **kwargs)

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        DebugViewer.RefreshNewData(self)

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    def GetNearestData(self, tick, adjust):

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        ticks = self.Data[:, 0]

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        new_cursor = numpy.argmin(abs(ticks - tick))

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        if adjust == -1 and ticks[new_cursor] > tick and new_cursor > 0:

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            new_cursor -= 1

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        elif adjust == 1 and ticks[new_cursor] < tick and new_cursor < len(ticks):

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            new_cursor += 1

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        return new_cursor

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    def GetBounds(self):

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        if self.StartIdx is None or self.EndIdx is None:

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            self.StartIdx = self.GetNearestData(self.StartTick, -1)

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            self.EndIdx = self.GetNearestData(self.StartTick + self.CurrentRange, 1)

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    def ResetBounds(self):

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        self.StartIdx = None

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        self.EndIdx = None

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    def RefreshCanvasRange(self):

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        if self.Ticktime == 0 and self.RangeValues != RANGE_VALUES:

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            self.RangeValues = RANGE_VALUES

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            self.CanvasRange.Clear()

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            for text, value in RANGE_VALUES:

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                self.CanvasRange.Append(text)

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            self.CanvasRange.SetStringSelection(RANGE_VALUES[0][0])

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            self.CurrentRange = RANGE_VALUES[0][1]

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        elif self.RangeValues != TIME_RANGE_VALUES:

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            self.RangeValues = TIME_RANGE_VALUES

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            self.CanvasRange.Clear()

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            for text, value in TIME_RANGE_VALUES:

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                self.CanvasRange.Append(text)

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            self.CanvasRange.SetStringSelection(TIME_RANGE_VALUES[0][0])

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            self.CurrentRange = TIME_RANGE_VALUES[0][1] / self.Ticktime

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    def RefreshView(self, force=False):

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        self.Freeze()

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        if force or not self.Fixed or (len(self.Data) > 0 and self.StartTick + self.CurrentRange > self.Data[-1, 0]):

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            if (self.MinValue is not None and 

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                self.MaxValue is not None and 

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                self.MinValue != self.MaxValue):

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                Yrange = float(self.MaxValue - self.MinValue) / self.CurrentZoom

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            else:

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                Yrange = 2. / self.CurrentZoom

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            if not force and not self.Fixed and len(self.Data) > 0:

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                self.YCenter = max(self.Data[-1, 1] - Yrange / 2, 

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                               min(self.YCenter, 

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                                   self.Data[-1, 1] + Yrange / 2))

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            var_name = self.InstancePath.split(".")[-1]

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            self.GetBounds()

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            self.VariableGraphic = plot.PolyLine(self.Data[self.StartIdx:self.EndIdx + 1], 

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                                                 legend=var_name, colour=colours[0])

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            self.GraphicsObject = plot.PlotGraphics([self.VariableGraphic], _("%s Graphics") % var_name, _("Tick"), _("Values"))

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            self.Canvas.Draw(self.GraphicsObject, 

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                             xAxis=(self.StartTick, self.StartTick + self.CurrentRange),

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                             yAxis=(self.YCenter - Yrange * 1.1 / 2., self.YCenter + Yrange * 1.1 / 2.))

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            # Reset and draw cursor 

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            self.ResetLastCursor()

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            self.RefreshCursor()

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        self.RefreshScrollBar()

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        self.Thaw()

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    def GetInstancePath(self):

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        return self.InstancePath

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    def IsViewing(self, tagname):

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        return self.InstancePath == tagname

   296

   297

    def NewValue(self, tick, value, forced=False):

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        value = {True:1., False:0.}.get(value, float(value))

   299

        self.Data = numpy.append(self.Data, [[float(tick), value]], axis=0)

   300

        if self.MinValue is None:

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            self.MinValue = value

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        else:

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            self.MinValue = min(self.MinValue, value)

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        if self.MaxValue is None:

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            self.MaxValue = value

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        else:

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            self.MaxValue = max(self.MaxValue, value)

   308

        if not self.Fixed or tick < self.StartTick + self.CurrentRange:

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            self.GetBounds()

   310

            while int(self.Data[self.StartIdx, 0]) < tick - self.CurrentRange:

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                self.StartIdx += 1

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            self.EndIdx += 1

   313

            self.StartTick = self.Data[self.StartIdx, 0]

   314

        self.NewDataAvailable(None)

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    def RefreshScrollBar(self):

   317

        if len(self.Data) > 0:

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            self.GetBounds()

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            pos = int(self.Data[self.StartIdx, 0] - self.Data[0, 0])

   320

            range = int(self.Data[-1, 0] - self.Data[0, 0])

   321

        else:

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            pos = 0

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            range = 0

   324

        self.CanvasPosition.SetScrollbar(pos, self.CurrentRange, range, self.CurrentRange)

   325

   326

    def RefreshRange(self):

   327

        if len(self.Data) > 0:

   328

            if self.Fixed and self.Data[-1, 0] - self.Data[0, 0] < self.CurrentRange:

   329

                self.Fixed = False

   330

            self.ResetBounds()

   331

            if self.Fixed:

   332

                self.StartTick = min(self.StartTick, self.Data[-1, 0] - self.CurrentRange)

   333

            else:

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                self.StartTick = max(self.Data[0, 0], self.Data[-1, 0] - self.CurrentRange)

   335

        self.RefreshView(True)

   336

   337

    def OnRangeChanged(self, event):

   338

        try:

   339

            if self.Ticktime == 0:

   340

                self.CurrentRange = self.RangeValues[self.CanvasRange.GetSelection()][1]

   341

            else:

   342

                self.CurrentRange = self.RangeValues[self.CanvasRange.GetSelection()][1] / self.Ticktime

   343

        except ValueError, e:

   344

            self.CanvasRange.SetValue(str(self.CurrentRange))

   345

        wx.CallAfter(self.RefreshRange)

   346

        event.Skip()

   347

   348

    def OnZoomChanged(self, event):

   349

        self.CurrentZoom = ZOOM_VALUES[self.CanvasZoom.GetSelection()][1]

   350

        wx.CallAfter(self.RefreshView, True)

   351

        event.Skip()

   352

   353

    def OnPositionChanging(self, event):

   354

        if len(self.Data) > 0:

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            self.ResetBounds()

   356

            self.StartTick = self.Data[0, 0] + event.GetPosition()

   357

            self.Fixed = True

   358

            self.NewDataAvailable(None, True)

   359

        event.Skip()

   360

   361

    def OnResetButton(self, event):

   362

        self.Fixed = False

   363

        self.ResetView()

   364

        event.Skip()

   365

   366

    def OnCurrentButton(self, event):

   367

        if len(self.Data) > 0:

   368

            self.ResetBounds()

   369

            self.StartTick = max(self.Data[0, 0], self.Data[-1, 0] - self.CurrentRange)

   370

            self.Fixed = False

   371

            self.NewDataAvailable(None, True)

   372

        event.Skip()

   373

   374

    def OnResetZoomOffsetButton(self, event):

   375

        if len(self.Data) > 0:

   376

            self.YCenter = (self.MaxValue + self.MinValue) / 2

   377

        else:

   378

            self.YCenter = 0.0

   379

        self.CurrentZoom = 1.0

   380

        self.CanvasZoom.SetSelection(0)

   381

        wx.CallAfter(self.RefreshView, True)

   382

        event.Skip()

   383

   384

    def OnExportGraphButtonClick(self, event):

   385

        data_copy = self.Data[:]

   386

        text = "tick;%s;\n" % self.InstancePath

   387

        for tick, value in data_copy:

   388

            text += "%d;%.3f;\n" % (tick, value)

   389

        self.ParentWindow.SetCopyBuffer(text)

   390

        event.Skip()

   391

   392

    def OnCanvasLeftDown(self, event):

   393

        self.Fixed = True

   394

        self.Canvas.canvas.CaptureMouse()

   395

        if len(self.Data) > 0:

   396

            if self.Mode == MODE_SELECTION:

   397

                self.Dragging = True

   398

                pos = self.Canvas.PositionScreenToUser(event.GetPosition())

   399

                self.CursorIdx = self.GetNearestData(pos[0], -1)

   400

                self.RefreshCursor()

   401

            elif self.Mode == MODE_MOTION:

   402

                self.GetBounds()

   403

                self.CurrentMousePos = event.GetPosition()

   404

                self.CurrentMotionValue = self.Data[self.StartIdx, 0]

   405

        event.Skip()

   406

   407

    def OnCanvasLeftUp(self, event):

   408

        self.Dragging = False

   409

        if self.Mode == MODE_MOTION:

   410

            self.CurrentMousePos = None

   411

            self.CurrentMotionValue = None

   412

        if self.Canvas.canvas.HasCapture():

   413

            self.Canvas.canvas.ReleaseMouse()

   414

        event.Skip()

   415

   416

    def OnCanvasMiddleDown(self, event):

   417

        self.Fixed = True

   418

        self.Canvas.canvas.CaptureMouse()

   419

        if len(self.Data) > 0:

   420

            self.GetBounds()

   421

            self.CurrentMousePos = event.GetPosition()

   422

            self.CurrentMotionValue = self.Data[self.StartIdx, 0]

   423

        event.Skip()

   424

   425

    def OnCanvasMiddleUp(self, event):

   426

        self.CurrentMousePos = None

   427

        self.CurrentMotionValue = None

   428

        if self.Canvas.canvas.HasCapture():

   429

            self.Canvas.canvas.ReleaseMouse()

   430

        event.Skip()

   431

   432

    def OnCanvasMotion(self, event):

   433

        if self.Mode == MODE_SELECTION and self.Dragging:

   434

            pos = self.Canvas.PositionScreenToUser(event.GetPosition())

   435

            graphics, xAxis, yAxis = self.Canvas.last_draw

   436

            self.CursorIdx = self.GetNearestData(max(xAxis[0], min(pos[0], xAxis[1])), -1)

   437

            self.RefreshCursor()

   438

        elif self.CurrentMousePos is not None and len(self.Data) > 0:

   439

            oldpos = self.Canvas.PositionScreenToUser(self.CurrentMousePos)

   440

            newpos = self.Canvas.PositionScreenToUser(event.GetPosition())

   441

            self.CurrentMotionValue += oldpos[0] - newpos[0]

   442

            self.YCenter += oldpos[1] - newpos[1]

   443

            self.ResetBounds()

   444

            self.StartTick = max(self.Data[0, 0], min(self.CurrentMotionValue, self.Data[-1, 0] - self.CurrentRange))

   445

            self.CurrentMousePos = event.GetPosition()

   446

            self.NewDataAvailable(None, True)

   447

        event.Skip()

   448

   449

    def OnCanvasMouseWheel(self, event):

   450

        if self.CurrentMousePos is None:

   451

            rotation = event.GetWheelRotation() / event.GetWheelDelta()

   452

            if event.ShiftDown():

   453

                current = self.CanvasRange.GetSelection()

   454

                new = max(0, min(current - rotation, len(self.RangeValues) - 1))

   455

                if new != current:

   456

                    if self.Ticktime == 0:

   457

                        self.CurrentRange = self.RangeValues[new][1]

   458

                    else:

   459

                        self.CurrentRange = self.RangeValues[new][1] / self.Ticktime

   460

                    self.CanvasRange.SetStringSelection(self.RangeValues[new][0])

   461

                    wx.CallAfter(self.RefreshRange)

   462

            else:

   463

                current = self.CanvasZoom.GetSelection()

   464

                new = max(0, min(current + rotation, len(ZOOM_VALUES) - 1))

   465

                if new != current:

   466

                    self.CurrentZoom = ZOOM_VALUES[new][1]

   467

                    self.CanvasZoom.SetStringSelection(ZOOM_VALUES[new][0])

   468

                    wx.CallAfter(self.RefreshView, True)

   469

        event.Skip()

   470

   471

    def OnCanvasResize(self, event):

   472

        self.ResetLastCursor()

   473

        wx.CallAfter(self.RefreshCursor)

   474

        event.Skip()

   475

   476

    ## Reset the last cursor

   477

    def ResetLastCursor(self):

   478

        self.LastCursor = None

   479

   480

    ## Draw the cursor on graphic

   481

    #  @param dc The draw canvas

   482

    #  @param cursor The cursor parameters

   483

    def DrawCursor(self, dc, cursor, value):

   484

        if self.StartTick <= cursor <= self.StartTick + self.CurrentRange:

   485

            # Prepare temporary dc for drawing

   486

            width = self.Canvas._Buffer.GetWidth()

   487

            height = self.Canvas._Buffer.GetHeight()

   488

            tmp_Buffer = wx.EmptyBitmap(width, height)

   489

            dcs = wx.MemoryDC()

   490

            dcs.SelectObject(tmp_Buffer)

   491

            dcs.Clear()

   492

            dcs.BeginDrawing()

   493

   494

            dcs.SetPen(wx.Pen(wx.RED))

   495

            dcs.SetBrush(wx.Brush(wx.RED, wx.SOLID))

   496

            dcs.SetFont(self.Canvas._getFont(self.Canvas._fontSizeAxis))

   497

   498

            # Calculate clipping region

   499

            graphics, xAxis, yAxis = self.Canvas.last_draw

   500

            p1 = numpy.array([xAxis[0], yAxis[0]])

   501

            p2 = numpy.array([xAxis[1], yAxis[1]])

   502

            cx, cy, cwidth, cheight = self.Canvas._point2ClientCoord(p1, p2)

   503

   504

            px, py = self.Canvas.PositionUserToScreen((float(cursor), 0.))

   505

   506

            # Draw line cross drawing for diaplaying time cursor

   507

            dcs.DrawLine(px, cy + 1, px, cy + cheight - 1)

   508

   509

            lines = ("X:%d\nY:%f" % (cursor, value)).splitlines()

   510

   511

            wtext = 0

   512

            for line in lines:

   513

                w, h = dcs.GetTextExtent(line)

   514

                wtext = max(wtext, w)

   515

   516

            offset = 0

   517

            for line in lines:

   518

                # Draw time cursor date

   519

                dcs.DrawText(line, min(px + 3, cx + cwidth - wtext), cy + 3 + offset)

   520

                w, h = dcs.GetTextExtent(line)

   521

                offset += h

   522

   523

            dcs.EndDrawing()